Electro-hydraulic force transmission for rehabilitation exoskeleton robot

Francis Bechet, Kouhei Ohnishi

研究成果: Conference contribution

10 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE 13th International Workshop on Advanced Motion Control, AMC 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ260-265
ページ数6
ISBN(印刷版)9781479923243
DOI
出版ステータスPublished - 2014 1月 1
イベント2014 13th IEEE International Workshop on Advanced Motion Control, AMC 2014 - Yokohama, Japan
継続期間: 2014 3月 142014 3月 16

出版物シリーズ

名前International Workshop on Advanced Motion Control, AMC

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • モデリングとシミュレーション
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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