Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton

Miha Dežman,Tamim Asfour,Aleš Ude,Andrej Gams

Mechanism and Machine Theory（2022）

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摘要

This paper presents a lightweight and low-inertia cable-driven upper-limb exoskeleton powerful enough to meet the requirements for activities of daily living. It presents the mechanical design, kinematic structure,the underlying actuation system, sensors, other electronic components as well as the controller of the exoskeleton.

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关键词

Upper-limb exoskeleton,Mechanical design,Rapid-prototyping,Bowden-cable transmission,Bowden-cable adhesion,Friction modelling,Friction identification,Actuator parameter identification

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