This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon sheath system, which uses two sets of cables (agonist and antagonist side) guided through a sheath, is considered to produce smooth and natural-looking movements of the arm. The exoskeleton is equipped with a single motor capable of controlling both the flexion and extension motions. One of the key challenges in the implementation of a double tendon sheath system is the possibility of slack in the tendon, which can impact the overall performance of the system. To address this issue, a robust mathematical model is developed and a comprehensive parametric study is carried out to determine the most effective strategies for overcoming the problem of slack and improving the transmission. The study suggests that incorporating a series spring into the system's tendon leads to a universally applicable design, eliminating the need for individual customization. The results also show that the slack in the tendon can be effectively controlled by changing the pretension, spring constant, and size and geometry of spool mounted on the axle of motor.

翻译：本文针对用于上肢功能增强（如康复、治疗及工业自动化）的电机驱动肌腱-鞘驱动系统，提出了一种参数特性分析方法。研究采用双肌腱鞘系统，即通过鞘管引导的两组线缆（主动侧与拮抗侧），以实现手臂平滑自然的运动。该外骨骼装备单个电机，可同时控制屈曲与伸展运动。双肌腱鞘系统实施中的关键挑战之一是肌腱可能产生的松弛现象，这会直接影响系统整体性能。为解决此问题，本文建立了鲁棒的数学模型，并开展了全面的参数化研究，以确定克服松弛问题并提升传动效率的最优策略。研究表明，在系统肌腱中引入串联弹簧可形成通用设计，无需个性化定制。结果同时表明，通过调整预紧力、弹簧常数以及电机轴上安装的卷轴的尺寸与几何形状，可有效控制肌腱松弛。