Cable-driven exoskeletons have used active cables to actuate the system and are worn on subjects to provide motion assistance. However, this kind of wearable devices usually contains uncertain kinematic parameters. In this paper, a model-based identification method has been proposed for a cable-driven arm exoskeleton to estimate its uncertainties. The identification method is based on the linearized error model derived from the kinematics of the exoskeleton. Experiment has been conducted to demonstrate the feasibility of the proposed model-based method in practical application.
REFERENCES
1.
N.
Hogan
et al., in Proceedings of IEEE International Workshop on Robot and Human Communication
(IEEE
, 1992
), pp. 161
–165
.2.
J. C.
Perry
, J.
Rosen
, and S.
Burns
, IEEE/ASME Trans. Mechatronics
12
(4
), 408
–417
(2007
).3.
T.
Nef
, M.
Guidali
, and R.
Riener
, Appl. Bionics Biomech.
6
(2
), 127
–142
(2009
).4.
Y.
Mao
, X.
Jin
, G. G.
Dutta
, J. P.
Scholz
, and S. K.
Agrawal
, IEEE Trans. Neural Syst. Rehabil. Eng.
23
, 84
(2014
).5.
L. E.
Kahn
, M. L.
Zygman
, W. Z.
Rymer
, and D. J.
Reinkensmeyer
, in Proceedings of the 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society
(IEEE
, 2001
), pp. 1344
–1347
.6.
P. S.
Lum
, C. G.
Burgar
, P. C.
Shor
, M.
Majmundar
, and M.
Van der Loos
, Arch. Phys. Med. Rehabil.
83
(7
), 952
–959
(2002
).7.
W.
Chen
, X.
Cui
, J.
Zhang
, and J.
Wang
, Rev. Sci. Instrum.
86
(6
), 065109
(2015
).8.
Y.
Mao
and S. K.
Agrawal
, in IEEE International Conference on Robotics and Automation
(IEEE
, 2012
), pp. 2457
–2462
.9.
Z.
Roth
, B.
Mooring
, and B.
Ravani
, IEEE J. Rob. Autom.
3
(5
), 377
–385
(1987
).© 2015 AIP Publishing LLC.
2015
AIP Publishing LLC
You do not currently have access to this content.
