One Novel Hydraulic Actuating System for the Lower-Body Exoskeleton  

作　　者：Maowen Sun Xiaoping Ouyang Jouni Mattila Huayong Yang Gang Hou 

机构地区：[1]State Key Laboratory of Fluid Power&Mechatronic Systems,Zhejiang University,Hangzhou 310027,China [2]Department of Intelligent Hydraulics and Automation,Tampere University,33101 Tampere,Finland [3]Guiyang HYC Hydraulic Co.,Ltd,Guiyang 550018,China

出　　处：《Chinese Journal of Mechanical Engineering》2021年第1期20-29,共10页中国机械工程学报（英文版）

基　　金：Supported by Nati onal Key R&D Program of China(Grant No.2018YFB1305400,2018YFB1305402);National Natural Science Foundation of China(Grant No.518902883);Fun dame ntal Resea rch Funds for the Central Universities(Grant No.2018XZZX001-04).

摘　　要：The hydraulic exoskeleton is one research hotspot in the field of robotics,which can take heavy load due to the high power density of the hydraulic system.However,the traditional hydraulic system is normally centralized,inefficient,and bulky during application,which limits its development in the exoskeleton.For improving the robot's performance,its hydraulic actuating system should be optimized further.In this paper a novel hydraulic actuating system(HAS)based on electric-hydrostatic actuator is proposed,which is applied to hip and knee joints.Each HAS integrates an electric servo motor,a high-speed micro pump,a specific tank,and other components into a module.The specific parameters are obtained through relevant simulation according to human motion data and load requirements.The dynamic models of the HAS are built,and validated by the system identification.Experiments of trajectory tracking and human-exoskeleton interaction are carried out,which demonstrate the proposed HAS has the ability to be applied to the exoskeleton.Compared with the previous prototype,the total weight of the HAS in the robot is reduced by about 40%,and the power density is increased by almost 1.6 times.

关 键 词：Hydraulic actuating system(HAS) Lower-body exoskeletons Lightweight and integrated System identification Working mode test 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH137[自动化与计算机技术—控制科学与工程] TH77[机械工程—机械制造及自动化]