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This paper presents a design and control approach to remove the force sensor from an upper limb cable-driven exosuit. A mechanical design for the exosuit was developed to maximize passive transparency. Then, a data-driven friction identification was conducted on a mannequin test bench to design a model-based tension controller. Seventeen healthy participants raised and lowered their right arms to evaluate tension tracking, movement quality, and muscular effort. Questionnaires on discomfort, physical exertion, and fatigue were collected. The proposed strategy allowed tracking the desired assistive torque with a root mean square error of 0.71\u00a0Nm (18%) at 50% gravity support. During the raising phase, the electromyography signals of the anterior deltoid, trapezius, and pectoralis major were reduced on average compared to the no-suit condition by 30, 38, and 38%, respectively. The posterior deltoid activity was increased by 32% during lowering. Position tracking was not significantly altered, whereas movement smoothness significantly decreased. This work demonstrates the feasibility and effectiveness of removing the force sensor from a cable-driven exosuit. A significant increase in discomfort in the lower neck and right shoulder indicated that the ergonomics of the suit could be improved. Overall this work paves the way toward simpler and more affordable exosuits.<\/jats:p>","DOI":"10.1017\/wtc.2024.21","type":"journal-article","created":{"date-parts":[[2024,12,9]],"date-time":"2024-12-09T23:25:48Z","timestamp":1733786748000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":7,"title":["Sensorless model-based tension control for a cable-driven exosuit"],"prefix":"10.1017","volume":"5","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4353-1456","authenticated-orcid":false,"given":"Elena","family":"Bardi","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-6191-3801","authenticated-orcid":false,"given":"Adrian","family":"Esser","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Wolf","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Marta","family":"Gandolla","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Emilia","family":"Ambrosini","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alessandra","family":"Pedrocchi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Robert","family":"Riener","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,12,10]]},"reference":[{"key":"S2631717624000215_r10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907732"},{"key":"S2631717624000215_r36","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2018.2875550"},{"key":"S2631717624000215_r40","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2020.2995134"},{"key":"S2631717624000215_r32","doi-asserted-by":"publisher","DOI":"10.1109\/TIM.2018.2806950"},{"key":"S2631717624000215_r41","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2020.00013"},{"key":"S2631717624000215_r28","unstructured":"Petersen, E (2023) GitHub \u2013 ime-luebeck\/ecg-removal: algorithms and evaluation toolkit for removing strong cardiac interference from surface EMG measurements \u2013 github.com (accessed 10 July 2023)."},{"key":"S2631717624000215_r34","doi-asserted-by":"publisher","DOI":"10.1002\/jcsm.12502"},{"key":"S2631717624000215_r39","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-019-0495-y"},{"key":"S2631717624000215_r21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354223"},{"key":"S2631717624000215_r9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2465849"},{"key":"S2631717624000215_r1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2064014"},{"key":"S2631717624000215_r2","doi-asserted-by":"publisher","DOI":"10.3390\/s23063263"},{"key":"S2631717624000215_r13","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104746"},{"key":"S2631717624000215_r3","doi-asserted-by":"publisher","DOI":"10.1186\/s12984-015-0090-9"},{"key":"S2631717624000215_r38","doi-asserted-by":"crossref","unstructured":"Xiloyannis, M , Alicea, R , Georgarakis, AM , Haufe, FL , Wolf, P , Masia, L and Riener, R (2021) Soft robotic exosuits: state of the art, core technologies and open challenges. 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