Prototyping and Experimental Investigation of Digital Hydraulically Driven Knee Exoskeleton

Rituraj Rituraj (), Rudolf Scheidl (), Peter Ladner, Martin Lauber and Andreas Plöckinger
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Rituraj Rituraj: Institute of Machine Design and Hydraulic Drives, Johannes Kepler University, 4040 Linz, Austria
Rudolf Scheidl: Institute of Machine Design and Hydraulic Drives, Johannes Kepler University, 4040 Linz, Austria
Peter Ladner: Linz Center of Mechatronics, 4040 Linz, Austria
Martin Lauber: Linz Center of Mechatronics, 4040 Linz, Austria
Andreas Plöckinger: Linz Center of Mechatronics, 4040 Linz, Austria

Energies, 2022, vol. 15, issue 22, 1-27

Abstract: Digital hydraulic drives are known for their superior efficiency, power density, and robustness. Such advantages make them an attractive alternative (to electric drives) for actuation of exoskeleton devices. This work presents development of a prototype for such a digital hydraulically driven knee exoskeleton and its experimental testing. The device uses two miniature hydraulic cylinders and a novel mechanism to translate the linear motion to rotary motion. The device is controlled via a passive control method in the stance phase and a simplified model predictive control method in the swing phase. In this work, the design of the exoskeleton device is optimized with respect to compactness and weight. Next, the features of the design are further refined to ensure that the device is able to support the operational loads. This design is then realized into a prototype with a mixture of inhouse manufactured parts and procured components. Finally, via experimental tests, the performance of the design and the control strategy are investigated. Certain drawbacks related to valve size and overall weight are observed in the prototype, which will be addressed in future studies.

Keywords: exoskeletons; hydraulic drives; digital hydraulics; miniature applications; control methods (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2022
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