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Device comprising input and output pulleys on nonparallel or parallel and mutually hingeable axes
The current invention concerns a device and a method for transmitting torque. The device may comprise an elongated and bendable torque transmission member, e.g. a cable, and a hinge element along which the member is guided via one or more guide pulleys. The hinge element may comprise a first and a second base element hingedly attached and comprising a first hinge axis. The first element may comprise a first guide pulley with pulley rotational axis in essence perpendicular to the first hinge axis. The second element may comprise a second guide pulley with pulley rotational axis in essence perpendicular to the first hinge axis. The positions of the first guide pulley in the first element and the second guide pulley in the second element may be configured to guide a portion of the member in essence coaxial to the hinge axis. In a preferred embodiment, the device is a wearable robot, e.g. an exoskeleton.
Patent Publication Number: WO2019229127