title: Note: Model-based identification method of a cable-driven wearable device for arm rehabilitation.
abstract: 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.
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Xiang
authors.initials: X
authors.lastname: Cui
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Weihai
authors.initials: W
authors.lastname: Chen
authors.affiliation: School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
authors.forename: Jianbin
authors.initials: J
authors.lastname: Zhang
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors.forename: Jianhua
authors.initials: J
authors.lastname: Wang