Development and Repetitive Learning Control of Lower Limb Exoskeleton Driven by Electrohydraulic Actuators

• Published in: IEEE transactions on industrial electronics (1982) Vol. 64; no. 5; pp. 4169 - 4178
• Main Authors: Yang, Yong, Ma, Lei, Huang, Deqing
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Backstepping; CASWELL; embedded electronic system; Embedded systems; Exoskeletons; Learning; Legged locomotion; Limbs; lower limb exoskeleton; microcontroller; Microcontrollers; repetitive learning control (RLC); Rigid-body dynamics; Sensors; Tracking; Tracking control; Valves

This paper presents a novel development of lower limb exoskeleton, which is named as CASWELL, and its repetitive learning control design for movement assistance. CASWELL has five degrees of freedom per leg, two of which are driven by linear single-rod electrohydraulic actuators. First, the mechanica...