Hydraulic Pressure Control System Simulation and Performance Test of Lower Extremity Exoskeleton

  • Qing Guo
  • Xiang-gang Zhang
  • Dan Jiang
  • Lu-lu Zhang
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)

Abstract

On basis of the introduction for the composition of carried-load assistance system and the control mechanism of hydraulic pressure valve for lower extremity exoskeleton, the position control loop is built. The control system is designed by frequency domain method using the PID parameters combined with lead correction network. Simulation results show that the control method can servo the angle of knee joint as human’s natural walk as well as the harmonious of man-machine moment. According to performance test of hydraulic pressure control system, the flow and pressure in piston is analyzed considering different load, the pressure of oil box and movable mode. Test results show that hydraulic pressure valve control system can realize efficiently slow walk carried 30 kilogram load, up and down stairs.

Keywords

lower extremity exoskeleton hydraulic pressure control system harmonious of man-machine moment performance test 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Qing Guo
    • 1
  • Xiang-gang Zhang
    • 1
  • Dan Jiang
    • 1
  • Lu-lu Zhang
    • 1
  1. 1.School of Aeronautics and AstronauticsUniversity of Electronic Science and Technology of ChinaChengduChina

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