Design, Modelling and Experimental Evaluation of a Tendon-driven Wrist Abduction-Adduction Mechanism for an upper limb exoskeleton

TL;DR

This paper introduces a novel tendon-driven wrist exoskeleton mechanism with simulation-based stiffness optimization, demonstrating effective experimental performance with reduced complexity and weight compared to traditional actuators.

Contribution

It presents a new single-cable, torsional-spring-assisted actuation mechanism and a simulation method for optimal spring parameter selection in wrist exoskeletons.

Findings

Experimental results align with simulation predictions.

Nominal spring configuration balances motion range and torque.

Simulation-informed design reduces empirical tuning.

Abstract

Wrist exoskeletons play a vital role in rehabilitation and assistive applications, yet conventional actuation mechanisms such as electric motors or pneumatics often introduce undesirable weight, friction, and complexity. This paper presents a novel single-cable (tendon), torsional-spring-assisted actuation mechanism for wrist abduction-adduction, and a simulation-based method for selecting its stiffness parameters. The mechanism employs a single Bowden cable passively tensioned by a spiral torsional spring (clock spring) to maintain continuous cable tension without antagonistic actuation. Kinematic and dynamic modeling of the mechanism was performed to estimate the required torque and identify optimal spring parameters. These simulation-derived parameters guided the design of a functional prototype, which was experimentally evaluated with five participants with no motor disabilities (NMD) under varying arm positions and loading conditions using three spring configurations to account for user variability and modeling uncertainties. Experimental results show consistent agreement with simulation-derived trends, with the nominal spring configuration achieving balanced motion range, torque demand, and repeatability. The results demonstrate that simulation-informed stiffness selection can effectively guide the design of compact, cable-driven wrist exoskeletons while reducing reliance on empirical tuning.