A bio-mimetic robot arm actuated by micro EHA

Lee, Yong-Kwun; Lee, Soojun

doi:10.1109/urai.2013.6677467

Cited by 9 publications

(2 citation statements)

References 12 publications

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“…A distinctive feature of robotic arm systems when using micro-EHA is that these robots have lightweight and high pay-load handling capacity. Utilizing the above advantages, Lee et al [8], developed a bio-mimetic robot arm that is 2.2 Kg in weight and can lift an object weighing approximately 5 Kg. This system has demonstrated that robotic arms with the mini-EHA system can achieve higher power than their weight.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Feedback Control for Electro-Hydraulic Actuators

Van¹,

Tran²,

Ha³

et al. 2023

Intelligent Automation &Amp; Soft Computing

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Electro-hydraulic actuators (EHA) have recently played a significant role in modern industrial applications, especially in systems requiring extremely high precision. This can be explained by EHA's ability to precisely control the position and force through advanced sensors and innovative control algorithms. One of the promising approaches to improve control accuracy for EHA systems is applying classical to modern control algorithms, in which the proportional-integral-derivative (PID) algorithm, fuzzy logic controller, and a hybrid of these methods are popular options. In this paper, we developed a novel version of the fuzzy control algorithm and linear feedback control method, namely fuzzy linear feedback control, to improve the control performance. To achieve the highest performance, we first designed a mathematical EHA model based on the Matlab/ Simulink software packages thanks to the selected parameters, which are similar to a real EHA system. Then, we respectively applied PID, fuzzy PID (FPID), and fuzzy linear feedback control (FLFC) before comparing them to have a full view of the outstanding advantages of the proposed algorithm. The simulation results showed that the proposed FLFC algorithm is approximately 99% and 77% superior in performance to the PID and feedback control algorithms, respectively.

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Section: Introductionmentioning

confidence: 99%

Fuzzy Feedback Control for Electro-Hydraulic Actuators

Van¹,

Tran²,

Ha³

et al. 2023

Intelligent Automation &Amp; Soft Computing

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show abstract

“…The University of Tokyo developed an EHA actuated anthropomorphic hand [17,18] and humanoid robot [19,20]. The Kyushu Sangyo University designed the micro EHA's actuated robotic arm [21]. And the application of EHA in wearable assistive devices has also been studied in recent years.…”

Section: Introductionmentioning

confidence: 99%

One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton

Sun

Ouyang

Mattila

et al. 2021

Chin. J. Mech. Eng.

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The hydraulic exoskeleton is one research hotspot in the field of robotics, which can take heavy load due to the high power density of the hydraulic system. However, the traditional hydraulic system is normally centralized, inefficient, and bulky during application, which limits its development in the exoskeleton. For improving the robot’s performance, its hydraulic actuating system should be optimized further. In this paper a novel hydraulic actuating system (HAS) based on electric-hydrostatic actuator is proposed, which is applied to hip and knee joints. Each HAS integrates an electric servo motor, a high-speed micro pump, a specific tank, and other components into a module. The specific parameters are obtained through relevant simulation according to human motion data and load requirements. The dynamic models of the HAS are built, and validated by the system identification. Experiments of trajectory tracking and human-exoskeleton interaction are carried out, which demonstrate the proposed HAS has the ability to be applied to the exoskeleton. Compared with the previous prototype, the total weight of the HAS in the robot is reduced by about 40%, and the power density is increased by almost 1.6 times.

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Design of the swash-plate water hydraulic pump for environment-friendly actuator systems

Lim

Lee²

2020

Int. J. of Precis. Eng. and Manuf.-Green Tech.

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A bio-mimetic robot arm actuated by micro EHA

Cited by 9 publications

References 12 publications

Fuzzy Feedback Control for Electro-Hydraulic Actuators

Fuzzy Feedback Control for Electro-Hydraulic Actuators

One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton

Design of the swash-plate water hydraulic pump for environment-friendly actuator systems

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