Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System
2012 ◽
Vol 24
(2)
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pp. 354-362
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Keyword(s):
This paper describes control methods of an Electro-Hydrostatic Actuators (EHA) for an exoskeletal power-assist systems. By increasing backdrivability of the electro-hydrostatic actuators, the exoskeletal power-assist systems can achieve haptic interaction with a human. We propose a pressure feedback controller based on singular perturbation method, which is used in a power-assist controller of the exoskeletal power-assist system. The controller assists human movements by increasing the sensitivity of the electrohydrostatic actuator with estimated torque feedback. The controllers were implemented on an exoskeletal power-assist system for a knee joint with an electrohydrostatic actuator. Their efficacy was evaluated by experiments.
2007 ◽
Vol 24
(10)
◽
pp. 3317
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2007 ◽
Vol 3
(2)
◽
pp. 121-131
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2019 ◽
Vol 66
(1)
◽
pp. 83-99
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Keyword(s):