Abstract
For the research on control method of leg exoskeleton for carrying payload, a leg exoskeleton prototype called ELEBOT (ECUST Leg Exoskeleton roBOT) has been built. To increase the load-carrying ability of exoskeleton, pseudo–anthropomorphic mechanical structure, a kind of efficient, low-flow pump-valve hybrid controlled hydraulic actuator, custom sensing shoes and other electrical components for control have been developed. A knee torque estimate algorithm based on GRF (ground reaction force) was applied to ELEBOT via a hydraulic direct force feedback PD controller. Experiments indicated ELEBOT could support itself and 30 kg additional payload with above control method when it was walking at a speed up to 3.2 km/h while following the operator’s maneuvers. These results indicate the control method discussed in this work is valid.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Herr, H.: Exoskeletons and orthoses: classification, design challenges and future directions. Journal of Neuroengineering and Rehabilitation 6, 21 (2009)
Kawamoto, H., Sankai, Y.: Power assist system HAL-3 for gait disorder person. In: Computers Helping Person with Special Needs, pp. 19–29. Springer, Heidelberg (2002)
Kazerooni, H., Steger, R.: The Berkeley lower extremity exoskeleton. Transactions of the ASME, Journal of Dynamic Systems, Measurements, and Control 128, 14–25 (2006)
Rose, J., Gamble, J.G.: Human Walking, 2nd edn. Williams & Wilkins, Baltimore (2004)
Harman, E., Han, K., Frykman, P., Pandorf, C.: The Effects of Backpack Weight on the Biomechanics of Load Carriage. Technical Report, Natick, Massachusetts, pp. T100–T117 (2000)
Mohammed, S., Amirat, Y.: Towards Intelligent Lower Limb Wearable Robots: Challenges and Perspectives – State of the Art. In: IEEE International Conference on Robotics and Biomimetics, pp. 312–317. IEEE Press, Bangkok (2009)
Zhen, J., Zhao, S., Wei, S.: Adaptively Fuzzy Iterative Learning Control for SRM Direct-drive Volume Control Servo Hydraulic Press. Journal of Central South University of Technology 17(2), 316–322 (2010)
Cao, H., Ling, Z., Zhu, J., Wang, Y., Wang, W.: Design frame of a leg exoskeleton for load-carrying augmentation. In: IEEE International Conference on Robotics and Biomimetics, Guilin, China, pp. 426–431 (2009)
Hurst, J.W., Rizzi, A.A.: Series Compliance for an Efficient Running Gait. IEEE Robotics & Automation Magazine 3, 42–51 (2008)
Kazerooni, H., Huang, L., Steger, R.: On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX). In: IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 3469–3476 (2005)
Veneman, J.F., Ekkelenkamp, R., Kryudhof, R., Van der Helm, F.C.T., van der Kooij, H.: Design of a Series Elastic- and Bowdencable-based actuation system for use as torque-actuator in exoskeleton-type training. In: 9th IEEE International Conference on Rehabilitation Robotics, Chicago, Illinois, pp. 496–499 (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cao, H., Zhu, J., Xia, C., Zhou, H., Chen, X., Wang, Y. (2010). Design and Control of a Hydraulic-Actuated Leg Exoskeleton for Load-Carrying Augmentation. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_57
Download citation
DOI: https://doi.org/10.1007/978-3-642-16584-9_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-16583-2
Online ISBN: 978-3-642-16584-9
eBook Packages: Computer ScienceComputer Science (R0)