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This thesis presents a systematic method for experimental characterization of Bowden cable friction and compliance. A novel tension and elongation measurement method using a motion capture system and a spring is introduced. With the measurement method, the effects of nine variables on friction and cable compliance are investigated through a comprehensive set of experiments under 144 different cases. We have generated specific guidelines for Bowden cable configurations and design parameters to achieve optimal performance which may help robotics researchers in choosing and configuring Bowden cables, and designing control systems for actuation.

This thesis presents a systematic method for experimental characterization of Bowden cable friction and compliance. A novel tension and elongation measurement method using a motion capture system and a spring is introduced. With the measurement method, the effects of nine variables on friction and cable compliance are investigated through a comprehensive set of experiments under 144 different cases. We have generated specific guidelines for Bowden cable configurations and design parameters to achieve optimal performance which may help robotics researchers in choosing and configuring Bowden cables, and designing control systems for actuation.