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

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 mechanical design, kinematic structure,the underlying actuation system, sensors, other electronic components as well controller exoskeleton. The extensive effect friction on designs, such one presented in this paper, requires proper mathematical modelling design. Thus, we propose current actuator model that describes relationship between motor current, velocity, external load. relies an Stribeck+Coulomb representation additional parameter modifies its Coulomb with offset represent adhesion cable sheath. has been validated based experimental data collected results show proposed better captures non-linear behaviour exoskeleton’s increasing overall descriptive performance by 15%. However, adding extend relation static friction, does not improve model.