Decreasing the system weight while maintaining the assistance performance can help reduce the metabolic penalty in exosuits. Various researchers have proposed a bi-directional cable-driven actuator that can provide two degrees of freedom (DOF) assistance by using a single motor. However, such systems face limitations associated with the controllability of the assistance force. This study proposes a novel cable-driven system, that is, a dual pulley drive, that can provide versatile controllability of 2-DOF cable actuation by using a single motor via a novel moving gear mechanism.

Funding Information
* The R&D Program for Forest Science Technology (No. 2021364B10-2123-BD01), provided by the Korea Forest Service (Korea Forestry Promotion Institute)
* The Industrial Strategic Technology Development Program (No. 20007058), funded by the Ministry of Trade, Industry, & Energy (MOTIE, Korea)