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JRM Vol.24 No.2 pp. 354-362
doi: 10.20965/jrm.2012.p0354
(2012)

Paper:

Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System

Hirokazu Tanaka, Hiroshi Kaminaga, and Yoshihiko Nakamura

Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
October 25, 2011
Accepted:
January 31, 2012
Published:
April 20, 2012
Keywords:
backdrivability, electro-hydrostatic actuator, exoskeletal power-assist system, singular perturbation
Abstract

This paper describes control methods of an Electro-Hydrostatic Actuators (EHA) for an exoskeletal power-assist systems. By increasing backdrivability of the electro-hydrostatic actuators, the exoskeletal power-assist systems can achieve haptic interaction with a human. We propose a pressure feedback controller based on singular perturbation method, which is used in a power-assist controller of the exoskeletal power-assist system. The controller assists human movements by increasing the sensitivity of the electrohydrostatic actuator with estimated torque feedback. The controllers were implemented on an exoskeletal power-assist system for a knee joint with an electrohydrostatic actuator. Their efficacy was evaluated by experiments.

Cite this article as:
Hirokazu Tanaka, Hiroshi Kaminaga, and Yoshihiko Nakamura, “Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System,” J. Robot. Mechatron., Vol.24, No.2, pp. 354-362, 2012.
Data files:
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