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Hydraulic Pressure Control System Simulation and Performance Test of Lower Extremity Exoskeleton

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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

On basis of the introduction for the composition of carried-load assistance system and the control mechanism of hydraulic pressure valve for lower extremity exoskeleton, the position control loop is built. The control system is designed by frequency domain method using the PID parameters combined with lead correction network. Simulation results show that the control method can servo the angle of knee joint as human’s natural walk as well as the harmonious of man-machine moment. According to performance test of hydraulic pressure control system, the flow and pressure in piston is analyzed considering different load, the pressure of oil box and movable mode. Test results show that hydraulic pressure valve control system can realize efficiently slow walk carried 30 kilogram load, up and down stairs.

This work is supported by the central university basic scientific research business expenses. (ZYGX2010J116).

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Author information

Authors and Affiliations

  1. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Qing Guo, Xiang-gang Zhang, Dan Jiang & Lu-lu Zhang

Authors
  1. Qing Guo
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  2. Xiang-gang Zhang
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  3. Dan Jiang
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  4. Lu-lu Zhang
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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., Zhang, Xg., Jiang, D., Zhang, Ll. (2012). Hydraulic Pressure Control System Simulation and Performance Test of Lower Extremity Exoskeleton. 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_62

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  • DOI: https://doi.org/10.1007/978-3-642-34103-8_62

  • 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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