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Control Strategy and Experiment of a Novel Hydraulic-Driven Upper Extremity Exoskeleton

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

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Abstract

In this paper, we introduce a novel hydraulic-driven upper extremity exoskeleton and present new type of force feedback control strategy, and the control experiment is also carried out. The experimental results show that the first generation upper extremity exoskeleton successfully follows the wearer’s hand movements and achieve load capacity of 20 kg. The experimental results also indicate that the new type force feedback control can effectively reduce the interaction force between the wearer and the upper extremity exoskeleton and the oscillation. Compared with the control method simply using interaction force as the control input, the method with speed compensation controller can effectively reduce the amplitude and oscillation of the interaction force.

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Authors and Affiliations

  1. National University of Defense Technology, Changsha, 410073, Hunan, China

    Zirong Luo, Guohen Wu, Xing Li & Jianzhong Shang

Authors
  1. Zirong Luo
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  2. Guohen Wu
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  3. Xing Li
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  4. Jianzhong Shang
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Corresponding author

Correspondence to Zirong Luo .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Luo, Z., Wu, G., Li, X., Shang, J. (2017). Control Strategy and Experiment of a Novel Hydraulic-Driven Upper Extremity Exoskeleton. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_5

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  • DOI: https://doi.org/10.1007/978-3-319-65289-4_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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