{
  "abstract": "The invention relates to an actuator, optionally for an exoskeleton, comprising a motor for providing speed and force to a reduction assembly; a two-stage reduction assembly comprising an input pulley and an output pulley; the two-stage reduction assembly configured to perform a speed reduction and a force increment; where the motor, the input pulley and the output pulley are coaxially located and/or in the same plane and/or inside each other within the actuator.",
  "assignees": [
    "ABLE HUMAN MOTION S L"
  ],
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    "GARCIA FARRENY ALEX",
    "MOREY OLIVÉ PAU",
    "PEDRERO TOBELLA GUIM"
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  "title": "Backdrivable actuator for exoskeleton",
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