Activities per year
This letter presents the Passive Return Electro-Hydrostatic Actuator (PREHydrA), an actuator for use in wearable robotics. It 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. A physical port-based network model was created of the PREHydrA that predicts force tracking with a maximum error of about 4 N. Closed loop output force control was used in experiments to obtain a mean absolute tracking error below 4 N for force references from 300 N amplitude at 0.5 Hz to 20 N amplitude at 10 Hz. These forces, frequencies, and corresponding velocities (up to 0.47 m/s) demonstrate that the PREHydrA's performance is sufficient for many wearable applications.
|Number of pages||6|
|Publication status||Published - 1 Oct 2018|
|Event||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain|
Duration: 1 Oct 2018 → 5 Oct 2018
|Conference||2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018|
|Abbreviated title||IROS 2018|
|Period||1/10/18 → 5/10/18|
FingerprintDive into the research topics of 'The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics'. Together they form a unique fingerprint.
- 1 Oral presentation
The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics
Kyrian Staman (Speaker)2 Oct 2018
Activity: Talk or presentation › Oral presentation
- 1 Article
The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable RoboticsStaman, K., Veale, A. J. & van der Kooij, H., 9 Jul 2018, In: IEEE Robotics and automation letters. 3, 4, p. 3569-3574 6 p.
Research output: Contribution to journal › Article › Academic › peer-reviewOpen AccessFile