TY - JOUR
T1 - Development of Flexible Electro-Hydraulic Spherical Actuator
AU - Kobayashi, Wataru
AU - Tamaki, Hiroaki
AU - Akagi, Tetsuya
AU - Dohta, Shujiro
AU - Shimooka, So
N1 - Funding Information:
This study was supported by Grant-in-Aid for Scientific Research (C) (JSPS KAKENHI Subject No.16K06202 and 19K04265).
Publisher Copyright:
© Fuji Technology Press Ltd.
PY - 2022
Y1 - 2022
N2 - Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.
AB - Voluntary rehabilitation at home helps to prevent the joint contracture after medical treatment. Our previous studies concerned a low-cost portable rehabilitation device using a flexible spherical pneumatic actuator as a passive exercise device. However, the device requires a bulky compressor to drive it. This study results in a compact fluidic driving system that is highly flexible. The system adopts a flexible electro-hydraulic cylinder driven by an electric motor and a hydraulic gear pump. An empirical equation for the suitable pump rotation for the desired displacement of the system has been determined. As a result, the multi-position control of the system within the tracking error of 4 mm has been realized by using the on/off control scheme based on the obtained equation. In addition, a flexible, spherical electro-hydraulic actuator using two proposed drive systems is developed and tested. Control of the attitude of the tested spherical actuator is successfully realized.
KW - flexible electro-hydraulic cylinder
KW - flexible electro-hydraulic spherical actuator
KW - gear pump with en-coder
KW - sequential control
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U2 - 10.20965/jrm.2022.p0382
DO - 10.20965/jrm.2022.p0382
M3 - Article
AN - SCOPUS:85128994784
SN - 0915-3942
VL - 34
SP - 382
EP - 389
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
IS - 2
ER -