CPC A63B 21/4001 (2015.10) [A63B 21/002 (2013.01); A63B 21/0058 (2013.01); A63B 21/151 (2013.01); A63B 21/153 (2013.01); A63B 21/225 (2013.01)] | 20 Claims |
1. An apparatus comprising:
a first cable;
a first motor configured to provide first tension to the first cable;
a second cable coupled to the first cable at an end effector;
a second motor configured to provide second tension to the second cable;
a rail;
a first rotating member engaging the first cable and defining a location at which the first cable extends from the rail, wherein the first rotating member is repositionable along the rail; and
an actuator controllable to reposition the first rotating member along the rail;
wherein the first cable and the second cable are routed such that the first tension and the second tension combine to provide a force on the end effector, wherein at least one of the first tension or the second tension is directed at least partially in a downward direction.
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