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

被引：9
|
作者：
Cui, Xiang [1 ]
Chen, Weihai [1 ]
Zhang, Jianbin [2 ]
Wang, Jianhua [1 ]
机构：
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Mech Engn & Automat, Beijing 100191, Peoples R China
来源：
REVIEW OF SCIENTIFIC INSTRUMENTS | 2015年 / 86卷 / 09期
关键词：
D O I：
10.1063/1.4931577
中图分类号：
TH7 [仪器、仪表];
学科分类号：
0804 ; 080401 ; 081102 ;
摘要：
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. (C) 2015 AIP Publishing LLC.
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页数：3
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