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Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation

Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation,10.1007/978-3-642-16584-9_57,Heng Cao,Jun Zhu,Chunming Xia,H

Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation  
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For the research on control method of leg exoskeleton for carrying payload, a leg exoskeleton prototype called ELEBOT (ECUST Leg Exoskeleton roBOT) has been built. To increase the load-carrying ability of exoskeleton, pseudo–anthropomorphic mechanical structure, a kind of efficient, low-flow pump-valve hybrid controlled hydraulic actuator, custom sensing shoes and other electrical components for control have been developed. A knee torque estimate algorithm based on GRF (ground reaction force) was applied to ELEBOT via a hydraulic direct force feedback PD controller. Experiments indicated ELEBOT could support itself and 30 kg additional payload with above control method when it was walking at a speed up to 3.2 km/h while following the operator’s maneuvers. These results indicate the control method discussed in this work is valid.
Published in 2010.
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