| Autor: |
Viennet, Emmanuel, Bouchardy, Loïc |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Druh dokumentu: |
Text<br />Conference Material |
| DOI: |
10.25368/2020.8 |
| Popis: |
The work presented in this paper aims at developing a hydraulic actuation system for an ankle exoskeleton that is able to deliver a peak power of 250 W, with a maximum torque of 90 N.m and maximum speed of 320 deg/s. After justifying the choice of a servo hydraulic actuator (SHA) over an electro hydrostatic actuator (EHA) for the targeted application, some test results of a first functional prototype are presented. The closed-loop unloaded displacement frequency response of the prototype shows a bandwidth ranging from 5 Hz to 8 Hz for displacement amplitudes between +/-5mm and +/- 20mm, thus demonstrating adequate dynamic performance for normal walking speed. Then, a detailed design is proposed as a combination of commercially available components (in particular a miniature servo valve and a membrane accumulator) and a custom aluminium manifold that incorporates the hydraulic cylinder. The actuator design achieves a total weight of 1.0 kg worn at the ankle. |
| Databáze: |
Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
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