Variable hydraulic transmission to be used in a body-powered wearable Robot

Saeed Hashemi, William Durfee

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A body-powered wearable robot (BPWR) transmits power from one joint to another in an exoskeleton. A variable hydraulic transmission design using long-stroke rolling diaphragm cylinders and efficient on/off valves is suggested in this paper to be used in a BPWR. Using the new design, a high number of transmission ratios are achievable in a smooth mechanism. The number of transmission ratios with respect to the number of cylinders and the pressure drop across the transmission is assessed. The torque loss caused by the pressure drop is 5 percent using a proper conduit geometry.

Original languageEnglish (US)
Title of host publicationFrontiers in Biomedical Devices, BIOMED - 2020 Design of Medical Devices Conference, DMD 2020
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791883549
DOIs
StatePublished - 2020
Event2020 Design of Medical Devices Conference, DMD 2020 - Minneapolis, United States
Duration: Apr 6 2020Apr 9 2020

Publication series

NameFrontiers in Biomedical Devices, BIOMED - 2020 Design of Medical Devices Conference, DMD 2020

Conference

Conference2020 Design of Medical Devices Conference, DMD 2020
CountryUnited States
CityMinneapolis
Period4/6/204/9/20

Bibliographical note

Funding Information:
Funding was provided by the National Institute of Health (NIH), grant number 5-R01EB019834-03.

Keywords

  • Body-powered wearable robot
  • Hydraulic transmission
  • Rehabilitation

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