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           _    _     _____    __   __   _    _   
    ___   | || | ||  / ____||  \ \\/ // | || | || 
   /   || | || | || / //---`'   \ ` //  | || | || 
  | [] || | \\_/ || \ \\___      | ||   | \\_/ || 
   \__ ||  \____//   \_____||    |_||    \____//  
    -|_||   `---`     `----`     `-`'     `---`   
     `-`

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Text this: Multi-source micro-friction identification for a class of cable-driven robots with passive backbone