This $188,978 National Science Foundation project grant supports research at Kent State University to advance understanding and control of cable-driven serial robots. Funded under the NSF Engineering program (CFDA 47.041), the two-year award will explore design, dynamics modeling, and control methods to overcome motion coupling challenges in these robots. By situating actuators away from harsh environments and transmitting power via cables, cable-driven designs could enable more compact robots for applications with space and environmental restrictions. However, cable transmission couples joint motions, complicating precise position control. The university researchers will evaluate whether counter-coupling can realize self-decoupling, develop an advanced mechanism based on this hypothesis, model robotic dynamics, and build an integrated force-position controller. They will also prototype a robot to evaluate findings. Outcomes aim to enhance fundamental understanding of control dynamics in complex coupling and support broader use of cable-driven serial robots, with potential benefits for medical robotics.