文献类型：会议论文

英文题名：Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation

作者：Cao, Heng[1];Zhu, Jun[1];Xia, Chunming[1];Zhou, Hong[2];Chen, Xiao[2];Wang, Yu[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai 200237, Peoples R China;[2]PLA, Quartermaster Res Inst Gen Logist Dept, Beijing 100082, Peoples R China

会议论文集：3rd International Conference on Intelligent Robotics and Applications (ICIRA)

会议日期：NOV 10-12, 2010

会议地点：Shanghai, PEOPLES R CHINA

语种：英文

外文关键词：exoskeleton; hydraulic; servo; force feedback

摘要：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.