The exoskeleton of the upper limb is an external parallel kinematic chain to the human arm. The device is designed to apply a specific torque of interaction to the human body resulting from bilateral teleoperation or rehabilitation. Its task is to work comfortably with the human arm. This paper presents the structure of the developed device and the control system of its joints. The construction of the joints’ drive system was performed based on the Bowden cable transmission. Based on the Bowden cable flexibility, it is possible to control the generated drive torque following the serial elastic actuator concept. The article presents joint control methods minimizing the influence of friction in the closed-loop Bowden cable conduit system. We also present the methods of estimating the torque of interaction with the operator based on the ExoArm 7-DOF exoskeleton dynamics model.

上肢的外骨骼是一条与人手臂平行的外部运动链。该设备设计用于将特定的交互扭矩施加到由于双边遥控或康复而产生的人体上。它的任务是使人的手臂舒适地工作。本文介绍了开发的设备的结构及其关节的控制系统。接头驱动系统的构造是基于Bowden电缆传动装置进行的。基于Bowden电缆的灵活性，可以遵循串行弹性执行机构的概念来控制产生的驱动扭矩。本文介绍了一种联合控制方法，可最大程度地减少闭环鲍登电缆管道系统中的摩擦影响。