4.7 Article

Lightweight Electrohydrostatic Actuator Drive Solution for Exoskeleton Robots

期刊

IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 27, 期 6, 页码 4631-4642

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2022.3153706

关键词

Control; electrohydrostatic actuator; exoskeleton; modeling; robot joint

资金

  1. National Key Research and Development Program of China [2018YFB1305402]
  2. National Natural Science Foundation of China [51890883]

向作者/读者索取更多资源

This article proposes a drive solution for the joint drive of exoskeleton robots based on a pump-controlled hydraulic system, and designs a compact, backdrivable, and energy-efficient lightweight electrohydrostatic actuator (LEHA). Experimental results show that the proposed solution achieves high trajectory tracking performance under different loads and frequency ranges, and improves the efficiency of the drive system.
The practical long-term application of power-assisted exoskeleton robots requires lightweight, high-efficient, and high-control precision actuators. Based on the improvement of hardware design and control method, this article proposes a complete drive solution for the joint drive of exoskeleton robots and promotes the research of robot joint drive based on the pump-controlled hydraulic system. Specifically, a compact, backdrivable, and energy-efficient drive unit, lightweight electrohydrostatic actuator (LEHA) with a weight of 2.5 kg and a rated power of 340 W is designed first. Then, by combining the fifth-order high-precision dynamics model of LEHA and virtual decomposition control method, a high-performance controller with L-2 and L-infinity stability is developed to realize the precise position trajectory tracking control of LEHA. Experimental results based on actual exoskeleton robot knee joints show that the proposed solution has high trajectory tracking performance over the frequency range of human body swing phase motion (0.5-1.5 Hz) and different loads (0-20 kg). Moreover, compared with the valve-controlled hydraulic power system with the same exoskeleton robot knee joint and wearer, test results show that the average efficiency increased by 18.13% after using LEHA under the swing phase test.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据