Development of knee power assist using backdrivable electro-hydrostatic actuator

Kaminaga, Hiroshi; Amari, Tomoya; Niwa, Yamato; Nakamura, Yoshihiko

doi:10.1109/iros.2010.5650671

Cited by 35 publications

(37 citation statements)

References 16 publications

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“…7, was used for the knee power augmenting [35][36][37] to improve physical strength of a human, requiring less skills for effective operation (Fig. 8).…”

Section: A Review Of Eha Developmentmentioning

confidence: 99%

“…[35] To decrease weight of device, instead of charge pump, in this installation was used pressurized accumulator to prevent oil deficiency and pump cavitation. Also in [36] was proposed use of developed low-impedance controller, which combines inertia scaling and disturbance observer based friction compensation. The controller have a task to compensate pump friction or pressure loss due to fluid friction that occurs in hoses.…”

Section: A Review Of Eha Developmentmentioning

confidence: 99%

“…The controller have a task to compensate pump friction or pressure loss due to fluid friction that occurs in hoses. Specifications for actuator used in [35][36][37] are given in Table 2. Testing results of the power augmenting device show that the energy consumption of operator was reduced by 25% [36].…”

Section: A Review Of Eha Developmentmentioning

confidence: 99%

See 2 more Smart Citations

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics

Karanović

Jocanović

Jovanović

2014

APH

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“…7, was used for the knee power augmenting [35][36][37] to improve physical strength of a human, requiring less skills for effective operation (Fig. 8).…”

Section: A Review Of Eha Developmentmentioning

confidence: 99%

Section: A Review Of Eha Developmentmentioning

confidence: 99%

See 1 more Smart Citation

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics

Karanović

Jocanović

Jovanović

2014

APH

View full text Add to dashboard Cite

“…Since servo valves separate servo units and actuators, an external force cannot be delivered to the servo units. This makes open-loop hydraulic circuits nonbackdrivable systems (5) .…”

Section: Introductionmentioning

confidence: 99%

“…Electro-hydrostatic actuators (EHAs), which are hydraulic actuators comprising closed-loop circuits with displacement volume-controlled systems, have been developed (6) (7) . In addition, several studies on the dynamics of EHAs and methods to identify parameters have aimed to improve control and cost performances (8)- (11) .…”

Section: Introductionmentioning

confidence: 99%

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

et al. 2017

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Electro-hydrostatic actuators (EHAs) are hydraulic actuators with high power-to-weight ratios that exhibit low energy loss. Thus far, methods for determining the characteristics and parameters of EHAs have not been fully established. Therefore, modeling methods for EHA are in demand. EHAs are driven by servomotors on the motor-side and hydraulic motors on the load-side, and therefore, the actuators are expected to experience sympathetic vibrations. Thus, EHAs can be considered as systems in which two rigid objects are connected to one another with a low-rigidity shaft such as a spring. The occurrence of resonance in EHAs has not yet been discussed because of difficulties with hydraulic systems. One major problem is the large friction in hydraulic motors. We apply a feedback modulator for friction compensation to enable the experimental identification of characteristics. Assuming that EHAs experience two-inertia resonance, the parameters of the motors can be calculated. In addition, vibration-suppression techniques for two-inertia systems can be applied to EHAs. This study proposes the application of a two-inertia model to suppress vibrations in EHAs and verify their dynamic characteristics.

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A Systematic Review of Low-Cost Actuator Implementations for Lower-Limb Exoskeletons: a Technical and Financial Perspective

Slucock

2022

J Intell Robot Syst

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A common issue with many commercial rehabilitative exoskeletons and orthoses are that they can be prohibitively expensive for an average individual to afford without additional financial support. Due to this a user may have limited to the usage of such devices within set rehabilitation sessions as opposed to a continual usage. The purpose of this review is therefore to find which actuator implementations would be most suitable for a simplistic, low-cost powered orthoses capable of assisting those with pathologic gait disorders by collating literature from Web of Science, Scopus, and Grey Literature. In this systematic review paper 127 papers were selected from these databases via the PRISMA guidelines, with the financial costs of 25 actuators discovered with 11 distinct actuator groups identified. The review paper will consider a variety of actuator implementations used in existing lower-limb exoskeletons that are specifically designed for the purpose of rehabilitating or aiding those with conditions inhibiting natural movement abilities, such as electric motors, hydraulics, pneumatics, cable-driven actuators, and compliant actuators. Key attributes such as technical simplicity, financial cost, power efficiency, size limitations, accuracy, and reliability are compared for all actuator groups. Statistical findings show that rotary electric motors (which are the most common actuator type within collated literature) and compliant actuators (such as elastic and springs) would be the most suitable actuators for a low-cost implementation. From these results, a possible actuator design will be proposed making use of both rotary electric motors and compliant actuators.

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Development of knee power assist using backdrivable electro-hydrostatic actuator

Cited by 35 publications

References 16 publications

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics

Review of Development Stages in the Conceptual Design of an Electro-Hydrostatic Actuator for Robotics

Resonance-suppression Control for Electro-hydrostatic Actuator as Two-inertia System

A Systematic Review of Low-Cost Actuator Implementations for Lower-Limb Exoskeletons: a Technical and Financial Perspective

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