Data for: A Passively Adaptive Variable Radius Pulley for Tendon-driven Robotic Joint

Relationship between the external torque and tension force acting on the pulley is equivalent to the transmission ratio, which is the radius of the pulley. If the radius of the pulley is changed by an external torque, the transmission ratio can be changed passively. A new variable-radius pulley has been developed and reported, in which the radius is changed passively according to the external torque. The goal of this work was to demonstrate the concept of a variable transmission system (variable-radius pulley) by measuring and comparing the tension forces and external torques. This work showed that the transmission ratio is increased as the external torque increases by changing the radius of pulley