文献类型：期刊文献

英文题名：Unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton

作者：Zhu, Jun[1];Wang, Yu[1];Jiang, Jinlin[1];Sun, Bo[1];Cao, Heng[1]

机构：[1]East China Univ Sci & Technol, Sch Mech & Power Engn, Shanghai, Peoples R China

年份：2017

卷号：14

期号：1

外文期刊名：INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS

收录：;EI(收录号：20171003422055);WOS:【SCI-EXPANDED(收录号:WOS:000394850100001)】；

基金：The author(s) disclosed receipt of the following financial support for the research, authorship and/or publication of this article: This work was supported by National Natural Science Foundation of China (Grant No. 51275170) and Specialized Research Fund for the Doctoral Program of Higher Education (Grant No. 20100074110005).

语种：英文

外文关键词：Adjustable stiffness; hydraulic actuators; variable ratio lever; knee; exoskeletons

摘要：This article presents the design and experimental testing of a unidirectional variable stiffness hydraulic actuator for load-carrying knee exoskeleton. The proposed actuator is designed for mimicking the high-efficiency passive behavior of biological knee and providing actively assistance in locomotion. The adjustable passive compliance of exoskeletal knee is achieved through a variable ratio lever mechanism with linear elastic element. A compact customized electrohydraulic system is also designed to accommodate application demands. Preliminary experimental results show the prototype has good performances in terms of stiffness regulation and joint torque control. The actuator is also implemented in an exoskeleton knee joint, resulting in anticipant human-like passive compliance behavior.