This project focuses on the development of a cycloidal actuator for robotic exoskeleton applications, with the goal of creating a compact, high-torque, and efficient actuation system suitable for wearable robotics. Exoskeletons require actuators that can generate sufficient torque to support or assist human joint motion while remaining lightweight, compact, and safe for close physical interaction with users. Cycloidal actuation offers an attractive solution because it can provide high reduction ratios, good torque density, smooth transmission, and robust load-bearing capacity within a relatively small package.

The proposed actuator is intended to enable robotic exoskeletons to deliver precise, powerful, and smooth movements during rehabilitation, assistance, or human-performance augmentation tasks. By integrating a cycloidal transmission with appropriate motor, sensing, and control components, the system can improve the actuator’s ability to respond accurately to user motion and external loading conditions. This is particularly important for exoskeletons, where the actuator must not only produce sufficient mechanical output but also operate reliably, quietly, and comfortably while interacting with the human body.

A key contribution of this project is the advancement of actuator design specifically tailored to the constraints of wearable robotic systems. Compared with conventional bulky actuation solutions, a compact cycloidal actuator can reduce the overall size and weight of the exoskeleton while maintaining the torque capacity required for joint assistance. The outcome of this work is expected to support the development of more practical, efficient, and user-friendly exoskeletons for rehabilitation, mobility assistance, and research applications.