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

K. Staman; A.J. Veale; H. van der Kooij

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

Research output: Contribution to conference › Paper › peer-review

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 language	English
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 https://www.iros2018.org/

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Abbreviated title	IROS 2018
Country/Territory	Spain
City	Madrid
Period	1/10/18 → 5/10/18
Internet address	https://www.iros2018.org/

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

1 Oral presentation

The PREHydrA: A Passive Return, High Force Density, Electro-Hydrostatic Actuator Concept for Wearable Robotics
Staman, K. (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 Robotics
Staman, K. (Corresponding Author), 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-review

Open Access
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6 Citations (Scopus)

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Cite this

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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{\textquoteright} 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.",

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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

Y2 - 1 October 2018 through 5 October 2018

ER -

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

Abstract

Conference

UN SDGs

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