Human-robot cooperative control system based on serial elastic actuator bowden cable drive in ExoArm 7-DOF upper extremity exoskeleton - ScienceDirect
Bowden-cable Actuation with Dual-Wire (BoASensor) - YouTube
Figure 3 from Design of a series elastic- and Bowden cable-based actuation system for use as torque-actuator in exoskeleton-type training | Semantic Scholar
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