Development of Flexible Electro-Hydraulic Spherical Actuator
Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to dri...
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| Veröffentlicht in: | Journal of robotics and mechatronics 2022-04, Vol.34 (2), p.382-389 |
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| container_end_page | 389 |
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| container_issue | 2 |
| container_start_page | 382 |
| container_title | Journal of robotics and mechatronics |
| container_volume | 34 |
| creator | Kobayashi, Wataru Tamaki, Hiroaki Akagi, Tetsuya Dohta, Shujiro Shimooka, So |
| description | Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized. |
| doi_str_mv | 10.20965/jrm.2022.p0382 |
| format | Article |
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Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.</description><identifier>ISSN: 0915-3942</identifier><identifier>EISSN: 1883-8049</identifier><identifier>DOI: 10.20965/jrm.2022.p0382</identifier><language>eng</language><publisher>Tokyo: Fuji Technology Press Co. 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Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.</description><subject>Actuators</subject><subject>Electric motors</subject><subject>Empirical equations</subject><subject>Gear pumps</subject><subject>Hydraulic equipment</subject><subject>Hydraulics</subject><subject>Pneumatics</subject><subject>Portable equipment</subject><subject>Rehabilitation</subject><subject>Tracking errors</subject><issn>0915-3942</issn><issn>1883-8049</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2022</creationdate><recordtype>article</recordtype><sourceid>BENPR</sourceid><recordid>eNotkMFLwzAYxYMoOObOXgueuyVfkjYBL2NuThh4UM8hSb9iR7bUtBX331s33-W9w-M9-BFyz-gcqC7kYp8OYwKYt5QruCITphTPFRX6mkyoZjLnWsAtmXXdno6SotS8nJDHJ_zGENsDHvss1tkm4E_jAmbrgL5PMd-eqmSH0Pjsrf3E1HgbsqXvB9vHdEduahs6nP37lHxs1u-rbb57fX5ZLXe55wXvc89siaiEYExYWoKooAZHJYVKILiaOY6FstKqSgspBeraVVo5cBwYVpJPycNlt03xa8CuN_s4pON4aaCQQLkoCzq2FpeWT7HrEtamTc3BppNh1JwpmZGS-aNkzpT4LwSlWmM</recordid><startdate>20220420</startdate><enddate>20220420</enddate><creator>Kobayashi, Wataru</creator><creator>Tamaki, Hiroaki</creator><creator>Akagi, Tetsuya</creator><creator>Dohta, Shujiro</creator><creator>Shimooka, So</creator><general>Fuji Technology Press Co. 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Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.</abstract><cop>Tokyo</cop><pub>Fuji Technology Press Co. 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| ispartof | Journal of robotics and mechatronics, 2022-04, Vol.34 (2), p.382-389 |
| issn | 0915-3942 1883-8049 |
| language | eng |
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| source | J-STAGE Free; DOAJ Directory of Open Access Journals; Open Access Titles of Japan; Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals |
| subjects | Actuators Electric motors Empirical equations Gear pumps Hydraulic equipment Hydraulics Pneumatics Portable equipment Rehabilitation Tracking errors |
| title | Development of Flexible Electro-Hydraulic Spherical Actuator |
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