Research Article
A Lower Extremity Exoskeleton: Human-Machine Coupled Modeling, Robust Control Design, Simulation, and Overload-Carrying Experiment
Table 3
The hydraulic parameters for simulation.
| | Name | Value | Unit |
| | Damping ratio | 0.7 | — | | Natural frequency | 628 | rad/s | | Servo valve gain | 0.0125 | m/A | | Fluid bulk modulus | 7000 | bar | | Mass of hydraulic actuator | 2.5 | kg | | Annulus areas of no-rod cylinder | | m2 | | Annulus areas of rod cylinder | | m2 | | Distance between hydraulic cylinder calf connections and knee | 0.322 | m | | Distance between hydraulic cylinder thigh connections and knee | 0.065 | m | | Return pressures | 1 | bar | | Piston stroke | 0.16 | m | | Flow-pressure coefficient | | m3/s/Pa | | Nominal value of | 0.188 | m2/s | | Nominal value of | 100 | Ns/m | | Nominal value of | | m3/pa | | Nominal value of | 1200 | N/m |
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