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

• Main Authors: Tjahjowidodo, Tegoeh, Zhu, Ke, Dailey, Wayne, Burdet, Etienne, Campolo, Domenico
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2017
• Subjects: Transparent haptic interface; Cable-driven robot with passive backbone
• Online Access: https://hdl.handle.net/10356/83111; http://hdl.handle.net/10220/42439
• Institution: Nanyang Technological University

This paper analyses the dynamics of cable-driven robots with a passive backbone and develops techniques for their dynamic identification, which are tested on the H-Man, a planar cabled differential transmission robot for haptic interaction. The mechanism is optimized for human–robot interaction by a...