Energetically Passive Multi-Degree-of-Freedom Hydraulic Human Power Amplifier With Assistive Dynamics

This paper develops a control approach for a multi-degree-of-freedom (DoF) hydraulic human power amplifier (HHPA) which is a tool with which a human interacts physically. The control objective is to use the hydraulic actuators to amplify the human force while ensuring that the closed-loop system is...

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Veröffentlicht in:	IEEE transactions on control systems technology 2020-07, Vol.28 (4), p.1296-1308
Hauptverfasser:	Lee, Sangyoon, Li, Perry Y., Eskilsson, Fredrik
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Controllers Coordination Degrees of freedom Dynamics Energetic passivity Energy storage exoskeleton Exoskeletons Feedback control Force Human performance human power augmentation Hydraulic actuators Hydraulic equipment hydraulic transformer Hydraulics natural energy storage Nonlinear control Nonlinear dynamics Obstacle avoidance obstacle avoidance (OA) passive decomposition passive velocity field control (PVFC) Potential fields Power amplifiers Power management Servovalves Valves Velocity distribution
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