Note: Model-based identification method of a cable-driven wearable device for arm rehabilitation

作者：Cui Xiang; Chen Weihai^*; Zhang Jianbin; Wang Jianhua

来源：Review of Scientific Instruments, 2015, 86(9): 096107.

DOI：10.1063/1.4931577

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.

• 出版日期2015-9
• 单位北京航空航天大学