Hydraulic Actuators for Rehabilitation-oriented Exoskeletons
This study developed and evaluated two novel pneumatic actuators, LISPER and SCASPER, using kinematic and dynamic simulations and experiments. LISPER incorporates detailed bellow-shaped folds, meshes, and braces, while SCASPER achieves adjustable linearity output force/torque through modifications to the silicone rubber strip pattern. LISPER demonstrates excellent performance in range of motion, output force/torque, bandwidth, and linearity. SCASPER provides sufficient force/torque for a wide range of motion and shoulder flexion. Validation using a 2-DOF robot arm confirmed their operational capabilities. However, both actuators have relatively large RMSE values due to limitations in drivers, control strategies, and chamber design. Future research will address these limitations and explore improvements.
