“…One intrinsic disadvantage of CSPRs is that cables can only drag the end-effector but cannot push it [1][2][3]. In the last few decades, CSPRs have been widely applied in various fields due to their attractive merits, such as hoisting heavy loads [4,5], large radio telescope [6,7], high-speed manipulation [8], wind tunnel test [9], camera robot [10], 3D printer [11][12][13], rehabilitation robot [14,15], building construction [16,17], and haptic devices [18].…”