Theoretical and experimental determination of capstan drive slip error

An improved Capstan equation including power-law friction and bending rigidity for high performance yarn

“…The mechanical model of infinitesimal yarn is similar to the differential cable element on the drum [15], as shown in Fig. 1, in which the velocity of yarn is 7.5 cm/s during weaving process, and thus the centrifugal force of yarn is neglected since the weight of differential yarn element is infinitesimally small.…”

VIBROfocus: Design of a focal vibro-tactile robotic-assistive system for spasticity rehabilitation

“…The capstan movement is achieved by backdrivable motor with encoder (Digilent, 6V, 150RPM) positioned tangential to a half-circled hand rest called capstan. The capstan is driven by a cable wrapped around the motor and the output drums in a figure-of-eight pattern, This is the primary component for power transmission, which is widely used in a capstan driven haptic devices [22].…”

Predicting synchronous accuracy of the wire sheave drives

“…Two scholars Jaime Werkmeister and Alexander Slocum [6] developed an analytical method for predicting the torsional stiffness of capstan drives. Another two scholars Ozgur Baser and E. Ilhan Konukseven [12] …”