Hybrid Control Scheme of a Hydraulically Actuated Lower Extremity Exoskeleton for Load-Carrying

In this paper, a lower extremity exoskeleton is developed to help human beings walk and carry heavy loads. The exoskeleton is actuated by a pump-based hydraulic actuation system. The hydraulic actuation system has a high speed on/off valve and a unidirectional cylinder with embedded springs on the c...

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Bibliographic Details
Published in:	Journal of intelligent & robotic systems Vol. 91; no. 3-4; pp. 493 - 500
Main Authors:	Long, Yi, Du, Zhi-jiang, Chen, Chao-feng, Wang, Wei-dong, He, Long, Mao, Xi-wang, Xu, Guo-qiang, Zhao, Guang-yu, Dong, Wei
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Netherlands 01.09.2018 Springer Springer Nature B.V
Subjects:	Actuation Algorithms Artificial Intelligence Control Control rods Cylinders D C motors Electric motors Electrical Engineering Engineering Exoskeletons Gait Gaussian process Human engineering Hybrid control Measuring instruments Mechanical Engineering Mechanical legs Mechatronics Proportional integral derivative Relief valves Robotics Robots Shutdowns Trajectory analysis Trajectory control Valves Hydraulically actuated Load-carrying Exoskeleton Hybrid control
ISSN:	0921-0296, 1573-0409
Online Access:	Get full text
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