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 |