A novel pump-valve coordinated controlled hydraulic system for the lower extremity exoskeleton. (November 2020)

• Record Type: Journal Article
• Authors: Jiang, Jinlin; Wang, Yu; Cao, Heng; Zhu, Jun; Zhang, Xinbin
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 42:Number 15(2020)
• Page Start: 2872
• Page End: 2884
• Publication Date: 2020-11
• Subjects: Lower extremity exoskeleton -- hydraulic system -- electro-hydrostatic actuator -- pump-valve coordinated control -- AMESim simulation; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331220930623
• Languages: English
• ISSNs: 0142-3312

Abstract

In order to reduce the weight and improve the energy efficiency of the lower extremity exoskeleton, a novel pump-valve coordinated controlled (PVCC) hydraulic system is presented. This hydraulic system only uses one electro-hydrostatic unit (EHU) and two valves to drive two hydraulic cylinders at the hip and knee of the lower extremity exoskeleton. The PVCC hydraulic system has the advantage of high energy conversion efficiency of the electro-hydrostatic actuator (EHA), which consists of one EHU and one hydraulic cylinder. To meet the requirements of the moment and speed of each joint of the exoskeleton, the proportional valve and on-off valve are added to adjust the flow into two hydraulic cylinders. The performance of EHU is tested by some hydraulic experiments, and the performance of the PVCC hydraulic system is analyzed by AMESim. The results show that the novel hydraulic system can only use one EHU to drive two hydraulic cylinders simultaneously under the premise of meeting the functional requirements of the exoskeleton.