Further details can be found in the following paper: “Hybrid Force-Impedance Control for Fast End-Effector Motions”, Maged Iskandar, Christian Ott, Alin Albu-Schäffer, Bruno Siciliano, and Alexander ...

This delta design uses direct cable drives to control the end effector, with preloading rods ... of explaining how the winch-based actuation system works to move the mechanism quickly and accurately.