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 | ā | 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 |
|
|