Tendon-Driven Anti-Fall Exoskeleton System

To address the accidental fall when workers climb high-voltage towers, this paper designs a tendon-driven anti-fall exoskeleton system with the function of sensing and actuation. In the sensing part, the proposed device uses a hand pressure sensor combined with a classification algorithm to achieve a good classification effect, and can achieve an accuracy rate of 93% after data collection and annotation. In the mechanical design section, to determine the locations of anchor points, we use the finger model. Additionally, a motor-cable experimental platform is designed for the selection of a spool and test of system performance. Data collection and analysis are performed to establish the control logic. The experiments demonstrate that the system could provide 8.04 Ncm of finger joint torque within 0.2 seconds. The system can be used as a reminder during workers' climbing and significantly contributes to operational safety.