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This paper presents an analysis of parametric characterization of a motordriven tendon-sheath actuator system for use in upper limb augmentation forapplications such as rehabilitation, therapy, and industrial automation. Thedouble tendon sheath system, which uses two sets of cables (agonist andantagonist side) guided through a sheath, is considered to produce smooth andnatural-looking movements of the arm. The exoskeleton is equipped with a singlemotor capable of controlling both the flexion and extension motions. One of thekey challenges in the implementation of a double tendon sheath system is thepossibility of slack in the tendon, which can impact the overall performance ofthe system. To address this issue, a robust mathematical model is developed anda comprehensive parametric study is carried out to determine the most effectivestrategies for overcoming the problem of slack and improving the transmission.The study suggests that incorporating a series spring into the system's tendonleads to a universally applicable design, eliminating the need for individualcustomization. The results also show that the slack in the tendon can beeffectively controlled by changing the pretension, spring constant, and sizeand geometry of spool mounted on the axle of motor.

Modeling and parametric optimization of 3D tendon-sheath actuator system for upper limb soft exosuit