String exchange cartridge for twisted string actuators, and twisted string actuator using the same

String-Twisting Actuator Cartridge for Easy String Replacement

This technology relates to a string-replacement cartridge for a string-twisting actuator and the actuator itself, allowing for the replacement of consumable strings as a modular cartridge unit.

Fiber strings are consumables that wear out or break due to repeated twisting; however, existing designs require the actuator to be disassembled for replacement, making maintenance cumbersome and time-consuming.

By modularizing the string and the fixing unit into a single cartridge and combining it with a detachable rigid module, this technology enhances durability while significantly simplifying the replacement process.

‍

‍

Key Features:

• A shaft configured for use in string-twisting actuators, designed to allow a drive motor to be attached and detached at one end.
• A fixing unit with a through-hole for the shaft, and a fixed end that restricts shaft rotation when attached.
• A string with one end coupled to the shaft and the other end connected to a hook.
• A detachable rigid module that can be assembled between the hook and the fixing unit to prevent the length of the string coupled to the hook from changing.

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of core technologies for compact, lightweight, high-performance, and durable safe drive modules based on string twisting, utilizing string surface strengthening, variable radius pulleys, and hybrid drive control; the development of a human-augmentation hybrid robot suit capable of safe 100m traversal in 7 seconds and comfortable 12-hour wear; and the Ministry of Science and ICT’s Human-Centered Soft Robot Technology Research Center.