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

Hirokazu Tanaka; Hiroshi Kaminaga; Yoshihiko Nakamura

doi:10.20965/jrm.2012.p0354

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JRM Vol.24 No.2 pp. 354-362

doi: 10.20965/jrm.2012.p0354

(2012)

Paper:

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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:

H. Tanaka, H. Kaminaga, and Y. 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.

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References

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[2] H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, “On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX), ” In Proc. of 2005 IEEE Int. Conf. on Robotics and Automation, pp. 4353-4360, 2005.
[3] H. Kaminaga, T. Amari, Y. Niwa, and Y. Nakamura, “Development of Knee Power Assist using Backdrivable Electro-Hydrostatic Actuator,” In Proc. of the 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5517-5524, 2010.
[4] H. Kaminaga, J. Ono, Y. Nakashima, and Y. Nakamura, “Development of Backdrivable Hydraulic Joint Mechanism for Knee Joint of Humanoid Robots,” In Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 1577-1582, 2009.
[5] H. Kaminaga, H. Tanaka, and Y. Nakamura, “Mechanism and Control of Knee Power Augmenting Device with Backdrivable Electro-Hydrostatic Actuator,” In Proc. of 13th World Congress in Mechanism and Machine Science, p. A12 534, 2011.
[6] P. Kokotović, H. K. Khalil, and J. O’Reilly, “Singular Perturbation Methods in Control: Analysis and Design,” Academic Press, 1986.
[7] M. W. Mehrez and A. A. El-Badawy, “Effect of the joint inertia on selection of under-actuated control algorithm for flexiblelink manipulators,” Mechanism and Machine Theory, Vol.45, No.7, pp. 967-980, 2010.
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[9] B. Siciliano and W. J. Book, “A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators,” The Int. J. of Robotics Research, Vol.7, No.4, pp. 479-490, 1988.
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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Hayashi, H. Kawamoto, and Y. Sankai, “Control method of robot suit HAL working as operator’s muscle using biological and dynamical information,” In Proc. of the 2005 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3063-3068, 2005.

[2] [2] H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, “On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX), ” In Proc. of 2005 IEEE Int. Conf. on Robotics and Automation, pp. 4353-4360, 2005.

[3] [3] H. Kaminaga, T. Amari, Y. Niwa, and Y. Nakamura, “Development of Knee Power Assist using Backdrivable Electro-Hydrostatic Actuator,” In Proc. of the 2010 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 5517-5524, 2010.

[4] [4] H. Kaminaga, J. Ono, Y. Nakashima, and Y. Nakamura, “Development of Backdrivable Hydraulic Joint Mechanism for Knee Joint of Humanoid Robots,” In Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 1577-1582, 2009.

[5] [5] H. Kaminaga, H. Tanaka, and Y. Nakamura, “Mechanism and Control of Knee Power Augmenting Device with Backdrivable Electro-Hydrostatic Actuator,” In Proc. of 13th World Congress in Mechanism and Machine Science, p. A12 534, 2011.

[6] [6] P. Kokotović, H. K. Khalil, and J. O’Reilly, “Singular Perturbation Methods in Control: Analysis and Design,” Academic Press, 1986.

[7] [7] M. W. Mehrez and A. A. El-Badawy, “Effect of the joint inertia on selection of under-actuated control algorithm for flexiblelink manipulators,” Mechanism and Machine Theory, Vol.45, No.7, pp. 967-980, 2010.

[8] [8] C. Ott, A. Albu-Schäffer, and G. Hirzinger, “Comparison of adaptive and nonadaptive tracking control laws for a flexible joint manipulator,” In Proc. of the 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2018-2024, 2002.

[9] [9] B. Siciliano and W. J. Book, “A Singular Perturbation Approach to Control of Lightweight Flexible Manipulators,” The Int. J. of Robotics Research, Vol.7, No.4, pp. 479-490, 1988.

[10] [10] L. G. Hallen and O. Lindahl, “The “Screw-Home” Movement in the Knee Joint,” Acta Orthopaedica, Vol.37, pp. 97-106, 1966.

[11] [11] C. Ott, A. Albu-Schäffer, and G. Hirzinger, “A passivity based Cartesian impedance controller for flexible joint robots. Part I: torque feedback and gravity compensation,” In Proc. of the 2004 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2659-2665, 2004.

[12] [12] H. K. Khalil, “Nonlinear Systems Third Edition,” Prentice Hall, 2000.

[13] [13] A. De Luca and R. Mattone, “Actuator failure detection and isolation using generalized momenta,” In Proc. of 2003 IEEE Int. Conf. on Robotics and Automation, Vol.1, pp. 634-639, 2003.