A cable cylinder (100) comprising a frame (1);—a pin (2) mounted on the frame and extending along a first axis (Oy);—a nut (4) engaging with the pin (2);—a first cable (10) coupled to the nut or the pin (2) and intended to be functionally connected to an element to be moved;—a motor (3) designed to rotate the pin (2) or the nut (4); characterised in that the first cable (6) comprises at least a first section (6.1) extending substantially parallel to the first axis (Ox), and the first cable (6) is designed to exert opposing forces on rotation of the nut (4) by the pin (2) or of the pin (2) by the nut (4) in order to constitute anti-rotation means so that a rotation of the pin (2) or of the bolt (4) under the action of the motor (3) causes a relative movement of the nut (4) and of the pin (2).

In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.

A linear to rotary motion converter includes a rigid body having first and second opposing end plates interconnected by at least one rigid crossmember. Each of the end plates is adapted to receive a rolling diaphragm linear actuator to thereby cause linear displacement of the rigid body in an axial direction upon actuation of the rolling diaphragm linear actuators. The linear to rotary motion converter also includes a capstan operably coupled to and located between the end plates such that linear motion of the rigid body caused by actuation of the rolling diaphragm linear actuators is translated to rotational motion of the capstan.

This application relates to an actuation system for assistive wearable devices such as exoskeletons designed to actuate a joint of a wearer of the device. The actuation system comprises a cable that connects a guide member arranged on one side of the joint and active components arranged on the other side of the joint. Applying a tension to the cable causes the cable to apply a force to the joint in a superior direction, which translates into a torque of the joint. The actuation system provides the advantages of having a low profile, and being substantially flexible, compliant, lightweight, and comfortable, while having good controllability and force delivery capabilities.

In one variation, a pulley arrangement includes a base pulley portion rotatable within a driving plane, an adjustable pulley portion coupled to the base pulley portion wherein the adjustable pulley portion is rotatable relative to the base pulley portion within the driving plane, and a driving member including an end coupled to the adjustable pulley portion wherein at least a portion of the driving member is wrapped at least partially around the adjustable pulley portion. In another variation, a pulley arrangement includes a base pulley portion rotatable around an axis, an adjustable pulley portion coupled to the base pulley portion and movable in a first direction parallel to the axis, and a sliding block engaged with the adjustable pulley portion, wherein the sliding block moves in a second direction different from the first direction, in response to compression of the adjustable pulley portion against the base pulley portion.

A belt tensioning system is described, which comprises: a housing pivotable about a pivot point; a pulley supported by said housing, said pulley to rotate a belt and said pulley rotatable about an axis of rotation; a motor to drive the pulley; and a biasing element coupled to said housing and to apply a tension to said belt via said housing and said pulley; wherein operation of said motor to effect rotation of said pulley about said axis of rotation: in a first direction effects pivoting of said housing in a direction about said pivot point, which pivoting movement, in combination with said biasing element, effects translational movement of said axis of rotation of said pulley in a first translational direction to a first axis position to alter said tension in said belt; and in a second direction effects pivoting of said housing in an opposite direction about said pivot point, which pivoting movement, in combination with said biasing element, effects translational movement of said axis of rotation of said pulley in a second translational direction to a second axis position to alter said tension in said belt.

An auxiliary bicycle transmission for a bicycle has a crossbar formed by a telescoping bar slidably mounted in an outer channel member. One end of a half chain or half V-belt is connected to the telescoping bar, the other end is connected by means of a spring to the upper end of a down tube, and the chain or V-belt that engages a freewheeling sprocket or pulley so that when the telescoping bar extends out of the outer channel member against the spring force, the freewheeling sprocket rotates and provides additional motive force to the standard transmission of the bicycle.

A cable chain retraction system for a robot has a constant force on the cable chain because of the use of constant force springs cartridges. Spring cartridges may be added or subtracted to adjust the spring force on the cable chain. All components may be pre-installed on a rail, such as a quick release guiderail.

Provided is an actuator, preferably a linear actuator, including a carriage having a lateral support surface for supporting a first longitudinal section of a belt against lateral deflection and a space adjacent to and longitudinally offset from the lateral support surface for partially surrounding a second longitudinal section of the belt that is deflected relative to the lateral support surface to take up slack and/or tension the belt. By containing the slack within the carriage using the space and the lateral support surface, slack may be removed from the belt or the belt may be tensioned in an easy and cost efficient manner.

A linear to rotary motion converter includes a rigid body having first and second opposing end plates interconnected by at least one rigid crossmember. Each of the end plates is adapted to receive a rolling diaphragm linear actuator to thereby cause linear displacement of the rigid body in an axial direction upon actuation of the rolling diaphragm linear actuators. The linear to rotary motion converter also includes a capstan operably coupled to and located between the end plates such that linear motion of the rigid body caused by actuation of the rolling diaphragm linear actuators is translated to rotational motion of the capstan.