4.7 Article

Lightweight Electrohydrostatic Actuator Drive Solution for Exoskeleton Robots

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One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton

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Summary: A novel hydraulic actuating system (HAS) based on electric-hydrostatic actuator is proposed for hip and knee joints in exoskeletons to improve robot performance. Specific parameters are obtained through simulation, dynamic models are built, and system identification is used for validation. Experiments show that the new system reduces total weight by 40% and increases power density by 1.6 times compared to previous prototypes.

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