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- W4386883606 abstract "The lower limb exoskeleton can increase human capacity of load bearing effectively. Hydraulic system has been employed to joint drive of exoskeleton extensively, especially operating in heavy duty spot. However, the existing hydraulic exoskeleton is usually qualified with valve-controlled system which is often criticized for complicated pipelines and low energy efficiency. Taking the advantages of the pump controlled hydraulic drive, the system is designed and its power-assisted performance for exoskeleton joints is investigated in this paper. The lower limb exoskeleton is built based on human walking gait characteristics and the structural parameters are optimized with generic algorithm towards compactness. In addition, a human-machine interaction control strategy for the exoskeleton walking is proposed based on the admittance control model. Finally, the experimental platform of the exoskeleton robot is established and the experimental results obtained under different loading conditions show that the proposed drive system can adaptively achieve joint motion following and reduce the joint torque out from human effectively." @default.
- W4386883606 created "2023-09-21" @default.
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- W4386883606 date "2023-07-17" @default.
- W4386883606 modified "2023-09-27" @default.
- W4386883606 title "Study on Power-assisted Performance of Joint Drive with Pump Controlled Hydraulic Unit for Lower Extremity Exoskeleton" @default.
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- W4386883606 doi "https://doi.org/10.1109/rcar58764.2023.10250146" @default.
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