Lightweight Electrohydrostatic Actuator Drive Solution for Exoskeleton Robots

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 robo...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2022-12, Vol.27 (6), p.4631-4642
Hauptverfasser:	Sun, Maowen, Ouyang, Xiaoping, Mattila, Jouni, Chen, Zhongyuan, Yang, Huayong, Liu, Hao
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Control Control methods electrohydrostatic actuator exoskeleton Exoskeletons Frequency ranges Human motion Hydraulic equipment Hydraulic systems Joints (anatomy) Knee Lightweight Mechanical energy modeling robot joint Robots Stability analysis Tracking control Trajectory control Valves Weight reduction
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