Name
Title | ||
|---|---|---|
Design and control of a hydraulic-actuated leg exoskeleton for load-carrying augmentation |
Abstract | ||
|---|---|---|
For the research on control method of leg exoskeleton for carrying payload, a leg exoskeleton prototype called ELEBOT (ECUST Leg Exoskeleton roBOT) has been built. To increase the load-carrying ability of exoskeleton, pseudo-anthropomorphic mechanical structure, a kind of efficient, low-flow pump-valve hybrid controlled hydraulic actuator, custom sensing shoes and other electrical components for control have been developed. A knee torque estimate algorithm based on GRF (ground reaction force) was applied to ELEBOT via a hydraulic direct force feedback PD controller. Experiments indicated ELEBOT could support itself and 30 kg additional payload with above control method when it was walking at a speed up to 3.2 km/h while following the operator's maneuvers. These results indicate the control method discussed in this work is valid. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1007/978-3-642-16584-9_57 | ICIRA (1) |
Keywords | Field | DocType |
leg exoskeleton prototype,load-carrying augmentation,pd controller,control method,kg additional payload,ecust leg exoskeleton robot,hydraulic actuator,hydraulic-actuated leg exoskeleton,electrical component,leg exoskeleton,hydraulic direct force feedback,ground reaction force,force feedback,low flow | Torque,Servo,PID controller,Control theory,Simulation,Control engineering,Ground reaction force,Exoskeleton,Engineering,Haptic technology,Payload,Hydraulic cylinder | Conference |
Volume | ISSN | ISBN |
6424 | 0302-9743 | 3-642-16583-4 |
Citations | PageRank | References |
1 | 0.37 | 6 |
Authors | ||
6 | ||