The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics

    Research output: Contribution to conferencePaper

    Abstract

    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.
    Original languageEnglish
    Number of pages6
    Publication statusPublished - 1 Oct 2018
    Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018: Towards a Robotic Society - Madrid Municipal Conference Centre, Madrid, Spain
    Duration: 1 Oct 20185 Oct 2018
    https://www.iros2018.org/

    Conference

    Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
    Abbreviated titleIROS 2018
    CountrySpain
    CityMadrid
    Period1/10/185/10/18
    Internet address

    Fingerprint

    Robotics
    Actuators
    Force control
    Cables
    Hydraulics
    Friction
    Fluids
    Experiments

    Cite this

    Staman, K., Veale, A. J., & van der Kooij, H. (2018). The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics. Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain.
    Staman, K. ; Veale, A.J. ; van der Kooij, H. / The PREHydrA : A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics. Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain.6 p.
    @conference{a8167b0300f0469bb7a596b85c35700e,
    title = "The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics",
    abstract = "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.",
    author = "K. Staman and A.J. Veale and {van der Kooij}, H.",
    year = "2018",
    month = "10",
    day = "1",
    language = "English",
    note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 : Towards a Robotic Society, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",
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    }

    Staman, K, Veale, AJ & van der Kooij, H 2018, 'The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics' Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 1/10/18 - 5/10/18, .

    The PREHydrA : A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics. / Staman, K.; Veale, A.J.; van der Kooij, H.

    2018. Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain.

    Research output: Contribution to conferencePaper

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    T1 - The PREHydrA

    T2 - A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics

    AU - Staman, K.

    AU - Veale, A.J.

    AU - van der Kooij, H.

    PY - 2018/10/1

    Y1 - 2018/10/1

    N2 - 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.

    AB - 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.

    M3 - Paper

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    Staman K, Veale AJ, van der Kooij H. The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics. 2018. Paper presented at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain.