A compact actuator for wire driven exosuits, the Pulley Embedded Quasi-Direct Drive actuator (PEQDD), is designed and evaluated. Based on the quasi-direct drive actuation, the PEQDD has a design that places the motor inside the embedded pulley, that makes it compact, lightweight, and highly responsive. Using a dynamometer, the efficiency map of the fabricated PEQDD was drawn. The PEQDD was compared with the original actuator used in Harvard Exosuit in a control bandwidth test, and showed higher control bandwidth of 20 Hz, compared to 6.25 Hz.

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