Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Mechanical Design and Kinematic Modeling of a Cable-Driven Arm Exoskeleton Incorporating Inaccurate Human Limb Anthropomorphic Parameters

Compared with conventional exoskeletons with rigid links, cable-driven upper-limb exoskeletons are light weight and have simple structures. However, cable-driven exoskeletons rely heavily on the human skeletal system for support. Kinematic modeling and control thus becomes very challenging due to in...

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Bibliographic Details
Main Authors: Weihai Chen, Zhongyi Li, Xiang Cui, Jianbin Zhang, Shaoping Bai
Format: Article
Language:English
Published: MDPI AG 2019-10-01
Series:Sensors
Subjects:
cable-driven exoskeleton
rehabilitation robot
upper limb
Online Access:https://www.mdpi.com/1424-8220/19/20/4461

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