Modeling of Linear Displacement and Design of Adaptive Robust Controller

Table 2

Characteristics of different configurations of tactile cable strings.

Actuation type	2S0N	2S1N	3S0N	3S1N	4S1N	5S1N	6S0N	6S1N
Max. DC motor rev	63	50	51	42	36	33	32	28
Max. contraction (mm)	165	155	165	130	125	120	110	110
Max. deviation due to loadings (mm)	26	16	11	9	15	13	10	9

S is the number of effective strands. N is the number of neutral strand.