A pretensioned cable transmits power along a first support member (link) from a rotary actuator to a rotating output joint, typically an output pulley fixed to a second link arm but rotatable in a coupling between the first and second links. A reducer, typically two sets of coupled idler pulleys of different...http://www.google.de/patents/US5046375?utm_source=gb-gplus-sharePatent US5046375 - Compact cable transmission with cable differential
