Analysis, Development and Evaluation of Electro-Hydrostatic Technology for Lower Limb Prostheses Applications
Federico Tessari, Renato Galluzzi, Andrea Tonoli, Nicola Amati, Matteo Laffranchi, Lorenzo De Michieli
Abstract
This paper presents electro-hydrostatic actuation as a valid substitute of electro-mechanical devices for powered knee prostheses. The work covers the design of a test rig exploiting linear electro-hydrostatic actuation. Typical control laws for prosthesis actuators are discussed, implemented and validated experimentally. Particularly, this work focuses on position and admittance control syntheses enhanced with feed-forward friction compensation. Finally, the efficiency of the test rig is characterized experimentally and compared to that of classical electro-mechanical designs. It is demonstrated that the electro-hydrostatic prototype is able to fulfill its targets from a control perspective, while also having the potential to outperform electro-mechanical actuation in efficiency.
BibTeX
@inproceedings{iros2020_analysisdevelopm,
title = {Analysis, Development and Evaluation of Electro-Hydrostatic Technology for Lower Limb Prostheses Applications},
author = {Federico Tessari and Renato Galluzzi and Andrea Tonoli and Nicola Amati and Matteo Laffranchi and Lorenzo De Michieli},
booktitle = {IROS 2020},
year = {2020}
}