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Table 8 General summary of advantages and drawbacks of each actuation technology

From: Robotic devices for paediatric rehabilitation: a review of design features

Actuation technology Advantages Drawbacks
Electric motors High precision
Easy to control
Readably available in the market
Not compliant
Large size
Heavy
Noisy
SEA High precision
Easy to control
Compliant
Better force control
Large size
Heavy
Complex structure
Bowden cable Modularity
Simple architecture
Easy to reconfigure
Low weight on the distal part of the limb
Unidirectional
Difficult to model and control
Pneumatic Lightweight
Compliant
Have high power density
Fast actuation
Low cost
Easy to manufacture in different shapes and sizes
Poor portability because they require external components
Difficult to model and control