Electro-hydraulic force transmission for rehabilitation exoskeleton robot

Francis Bechet, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Citations (Scopus)

Abstract

This paper proposes a high performance electro-hydraulic force transmission method for force control of elbow-joint rehabilitation exoskeleton robot. Exoskeletons are external structural mechanisms that are designed to be mounted on human body so as to support or enhance its physical abilities. Heretofore, they have been considered in several applications such as rehabilitation medicine, military or industry. However, force control methods for these robots still remain a very attractive topic for researchers because of the difficulty to detect motion intention of the operator. In this paper, we propose to connect two syringes through a water tube in order to achieve force transmission between a remotely-located electromagnetic motor and the exoskeleton robot. High force control performance can thus be achieved by the electromagnetic motor while backdrivability is ensured by symmetry of the hydraulic transmission. A theoretical model of the transmission system is proposed and the validity of the proposal is verified experimentally.

Original languageEnglish
Title of host publication2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages260-265
Number of pages6
ISBN (Print)9781479923243
DOIs
Publication statusPublished - 2014 Jan 1
Event2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
Duration: 2014 Mar 142014 Mar 16

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014
CountryJapan
CityYokohama
Period14/3/1414/3/16

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Keywords

  • Elbow-joint
  • Electro-hydraulic Transmission
  • Exoskeleton
  • Force Control
  • Motion Control
  • Rehabilitation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Bechet, F., & Ohnishi, K. (2014). Electro-hydraulic force transmission for rehabilitation exoskeleton robot. In 2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014 (pp. 260-265). [6823292] (International Workshop on Advanced Motion Control, AMC). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AMC.2014.6823292