A HIGHLY INTEGRATED LOW PRESSURE FLUID SERVO-VALVE FOR APPLICATIONS IN WEARABLE ROBOTIC SYSTEMS

被引：0
作者：
Folgheraiter, Michele [1 ]
Jordan, Mathias [1 ]
Benitez, Luis M. Vaca [1 ]
Grimminger, Felix [1 ]
Schmidt, Steffen [1 ]
Albiez, Jan [1 ]
Kirchner, Frank [1 ]
机构：
[1] German Res Ctr Artificial Intelligence DFKI, Robot Innovat Ctr, Robert Hooke Str 5D, D-28359 Bremen, Germany
来源：
ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2010年
关键词：
Proportional Valve; Hydraulic Valve; Pneumatic Valve; Mechatronics; Pressure Control; Servo-Mechanism;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper an innovative low pressure servo-valve is presented. The device was designed with the main aim to be easily integrable into complex hydraulic/pneumatic actuation systems, and to operate at relatively low pressure (< 50.10(5)Pa). Characteristics like compactness, lightweight, high bandwidth, and autonomous sensory capability, where considered during the design process in order to achieve a device that fulfills the basic requirements for a wearable robotic system. Preliminary results about the prototype performances are presented here, in particular its dynamic behavior was measured for different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm.
引用
收藏
页码：72 / 78
页数：7
相关论文
共 14 条
  • [1] Folgheraiter Michele, 2009, Applied Bionics and Biomechanics, V6, P193, DOI 10.1080/11762320902840187
  • [2] Folgheraiter M, 2008, IEEE INT C ROB BIOM
  • [3] Folgheraiter M, 2009, IEEE INT C ROB AUT I
  • [4] Folgheraiter M., 2009, INT JOINT C BIOM ENG
  • [5] Guo F, 2004, THESIS
  • [6] Hayward V., 1994, EXPT ROBOTICS 3 DESI, V200
  • [7] Inc. M, 2009, TECHNICAL REPORT
  • [8] Jacobsen S. C., 1991, P ANS TOP M ROB REM
  • [9] Kahn M., 1969, THESIS
  • [10] Hybrid control of the Berkeley Lower Extremity Exoskeleton (BLEEX)
    Kazerooni, H.
    Steger, Ryan
    Huang, Lihua
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2006, 25 (5-6) : 561 - 573
12