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

Zusammenfassung (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.