Powered orthosis and attachable power-assist device with Hydraulic Bilateral Servo System

Author

Ohnishi, Kengo ; Saito, Yuya ; Oshima, Toru ; Higashihara, Takanori

Author_Institution

Div. of Electron. & Mech. Eng., Tokyo Denki Univ., Saitama, Japan

fYear

2013

fDate

3-7 July 2013

Firstpage

2850

Lastpage

2853

Abstract

This paper discusses the developments and control strategies of exoskeleton-type robot systems for the application of an upper limb powered orthosis and an attachable power-assist device for care-givers. Hydraulic Bilateral Servo System, which consist of a computer controlled motor, parallel connected hydraulic actuators, position sensors, and pressure sensors, are installed in the system to derive the joint motion of the exoskeleton arm. The types of hydraulic component structure and the control strategy are discussed in relation to the design philosophy and target joints motions.

Keywords

hydraulic actuators; medical robotics; motion control; orthotics; position control; pressure sensors; servomotors; attachable power-assist device; care givers; computer controlled motor; design philosophy; exoskeleton arm; exoskeleton-type robot systems; hydraulic bilateral servo system; hydraulic component structure; parallel connected hydraulic actuators; position sensors; pressure sensors; target joints motions; upper limb powered orthosis; Actuators; Exoskeletons; Joints; Pistons; Robots; Sensors; Servomotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE

Conference_Location

Osaka

ISSN

1557-170X

Type

conf

DOI

10.1109/EMBC.2013.6610134

Filename

6610134