Abstract
A new kind of weight-bearing lower limb exoskeleton driven by hydraulic cylinder is designed, and its structural characteristics and driving principle are analysed. The mathematical model and control block diagram of the valve controlled unsymmetrical cylinder system for the controlled rotary joint are established. The effects of structural parameters such as servo valve bandwidth, load mass and hydraulic cylinder size on the dynamic characteristics of the system are studied, and the force tracking curve optimized by structural parameters is given to prove the correctness of the theoretical analysis of the system, which provides theoretical support for the design of the weight-bearing lower limb exoskeleton.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
