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Session: Neuromuscular – lower extremities 1
Session starts: Friday 25 January, 10:30
Presentation starts: 11:15
Room: Lecture room 536

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Kyrian Staman (University of Twente)
Herman van der Kooij (University of Twente)

Abstract:
Development of high force density actuation technology is a constant endeavor among many fields of research, especially in wearable robotics for human enhancement, rehabilitation, or function restoration. The principle of remote actuation places the heavy components on the fixed world or a location where the added mass and inertia is of least influence to the wearer (usually the back). A hydrostatic actuator concept is proposed that eliminates conventional hydraulic systems' fluid supply and valves, potentially making it lighter, more efficient, and simpler. It also avoids the configuration-dependent friction of Bowden cable transmissions. Test setups are used to identify a nonlinear friction model for commercial hydraulic cylinders and evaluate a control strategy to compensate this friction. Controlled forces up to 300 N (3 N error) and velocities up to 0.5 m/s demonstrate the concept's performance to be sufficient for many wearable applications. With the obtained performance, models, and insights new, small scale hydraulic cylinders are designed to create novel actuation systems for wearable robotics. Part of this work is published in [1]. Contribution to the conference will either focus on design of small scale hydraulic components and their application to wearable robotics or on identification, control, and performance using two test setups. Reference: [1] K. Staman, A. J. Veale and H. van der Kooij, “The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics,” IEEE Robot. Autom. Lett. vol. 3, no. 4, pp. 3569-3574, Oct. 2018. doi: 10.1109/LRA.2018.2854367