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Coordinated Control Method of the Lower Extremity Exoskeleton Based on Human Electromechanical Coupling

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Social Robotics (ICSR 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7621))

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Abstract

This paper has introduced electromechanical coupling characteristics to the lower extremity exoskeleton systems. When the load torque compensation model has been established, A model of knee position control system has also been established, which is made of the servo valve, hydraulic cylinders and other hydraulic components. Hydraulic cylinder position control loop has been designed in case of existing load force interference compensation. From that have ensured the system to meet a certain stability margin. The simulation shows that this position control method can servo on the knee angular displacement of normal human walking, at the same time, met the needs of human-machine coordinated motion. On basis of 30kg walk test of prototype of system, analyzing hydraulic cylinder bearing demand under different load conditions. The test shows that the lower limb exoskeleton portable power system using a hydraulic valve position control can meet the load 30kg low level walking requirements.

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Author information

Authors and Affiliations

  1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, 61731, Chengdu, PRC

    Qing Guo

  2. School of Mechatronics Engineering, University of Electronic Science and Technology of China, 61731, Chengdu, PRC

    Hong Zhou

  3. Quartermaster Equipment Institute, General Logistics Department of CPLA, Beijing, University of Electronic Science and Technology of China, 61731, Chengdu, PRC

    Dan Jiang

Authors
  1. Qing Guo
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  2. Hong Zhou
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  3. Dan Jiang
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Editor information

Editors and Affiliations

  1. Interactive Digial Media Institute, Social Robotics Laboratory, National University of Singapore, 4 Engineering Drive 3, 117576, Singapore, Singapore

    Shuzhi Sam Ge  & John-John Cabibihan  & 

  2. Artificial Intelligence Laboratory, Department of Computer Science, Stanford University, Gates Building, 94305-9010, Stanford, CA, USA

    Oussama Khatib

  3. Robotics Institute, School of Computer Science, Carnegie Mellon University, 5000 Forbes Avenue, 15213, Pittsburgh, PA, USA

    Reid Simmons

  4. Faculty of Information Technology, University of Technology, Human-robot Collaboration Studio, 2007, Sydney, NSW, Australia

    Mary-Anne Williams

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© 2012 Springer-Verlag Berlin Heidelberg

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Guo, Q., Zhou, H., Jiang, D. (2012). Coordinated Control Method of the Lower Extremity Exoskeleton Based on Human Electromechanical Coupling. In: Ge, S.S., Khatib, O., Cabibihan, JJ., Simmons, R., Williams, MA. (eds) Social Robotics. ICSR 2012. Lecture Notes in Computer Science(), vol 7621. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34103-8_66

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  • DOI: https://doi.org/10.1007/978-3-642-34103-8_66

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-34102-1

  • Online ISBN: 978-3-642-34103-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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