文献类型：期刊文献

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] School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai, 200237, China; [2] The quartermaster research institute of general logistics department of PLA, Beijing, 100082, China

年份：2010

卷号：6424 LNAI

起止页码：590

外文期刊名：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

收录：EI(收录号：20175104549548)

语种：英文

外文关键词：Anthropomorphic robots - Exoskeleton (Robotics) - Feedback - Hydraulic actuators - Valves (mechanical) - Hydraulic equipment - Mechanical actuators

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. ? Springer-Verlag Berlin Heidelberg 2010.