Publication

A highly integrated low pressure fluid servo-valve for applications in wearable robotic systems

Michele Folgheraiter, Mathias Jordan, Luis Manuel Vaca Benitez, Felix Grimminger, Steffen Schmidt, Jan Albiez

In: Proceedings of 7th International Conference on Informatics in Control, Automation and Robotics. International Conference on Informatics in Control, Automation and Robotics (ICINCO-2010) June 15-18 Madeira Portugal 6/2010.

Abstract

In this paper an innovative low pressure proportional valve is presented. The device was designed with the main aim to be easily integrated into complex hydraulic/pneumatic actuation systems, and to operate at relatively low pressure (< 50 · 105Pa). Characteristics like compactness, lightweight, high bandwidth, and autonomous sensory capability, where considered during the design process, this in order to achieve a device that fulfill the basic requirements for a wearable robotic system. Preliminary results about the prototype performances are presented here, in particular its dynamic behavior was measured in different working conditions, and a non-linear model identified using a recursive Hammerstein-Wiener parameter adaptation algorithm.

German Research Center for Artificial Intelligence
Deutsches Forschungszentrum für Künstliche Intelligenz