A novel design and control of digital hydraulically driven knee exoskeleton
Sprache des Vortragstitels:
Exoskeleton design, control & applications - Tech day
Sprache des Tagungstitel:
Hydraulically actuated exoskeletons present an attractive alternative (to electrically actuated exoskeletons) due to their high force density, easy energy recuperation, motion locking and damping capabilities. In this presentation, a novel design of digitally driven knee exoskeleton is presented that uses a unique mechanism to satisfy the peak torque requirements during a typical gait cycle with a smaller hydraulic force. The control strategy involves a passive control during the stance phase and a model predictive control during the swing phase. The preliminary results show that the device is successfully able to track the desired knee motion and deliver the required torque.