Controllable, High Force Amplification Using Elastic Cable Capstans

Abstract

This paper presents the design and experimental characterization of a continuously variable linear force amplifier based on the theory of capstans. In contrast to traditional capstan amplifiers, the design presented here uses an elastic cable, enabling a control actuator to not only continuously clutch output to a rotating drum but also passively declutch by releasing tension. Our experimental results demonstrate successful declutching at all force amplification ratios up to the limit of our experimental apparatus, 21 — significantly higher than previously published values. A system of distributed capstan amplifiers driven by a central torque source with cable engagement switched by lightweight, low torque actuators has potential to reduce the mass of distal actuators and enable more dynamic performance in robotic applications.