An Exoskeletal Hydrostatic Power-Assisting Mechanism and its Pressure Feedback Control Based on Singular Perturbation Method
Controller design of exoskeletal powerassistingmechanisms is discussed in this paper. Theperformance of exoskeletal system is determined by theproperties of mechanism, sensing, and control. We proposeto use the electro-hydrostatic actuators (EHA) forpower-assisting mechanism since their backdrivability ispreferred for haptic interaction between the human andthe mechanism. For sensing, mechanical sensing suchas joint angle and force/pressure is preferred over biophysicalsensing such as EMG, because the latter has diverseproperties of individuals and lack of long-term measurementstability. The focus of this paper is to designthe controller of the exoskeletal power-assisting systemadopting the EHA and mechanical sensing. The controlleris designed based on the singular perturbation method.The controller is implemented on the exoskeletal powerassistingmechanism. Experiments are conducted to discussthe usefulness of the designed controller and the performanceof the exoskeletal power-assisting system.
electro-hydrostatic actuator backdrivability exsoskeletal system power-assisting system singular perturbation method
H.Tanaka H.Kaminagay Y.Nakamuraz
The University of Tokyo,Japan
国际会议
上海
英文
1-7
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）