Interactive robotics: challenges for assistance, healthcare & service applications
Epublication WebSurg.com, Nov 2014;14(11). URL: http://websurg.com/doi/lt03enouezdou001
We have designed a new high-performance integrated electro-hydraulic actuator (IEHA). We propose a new solution robotics question which has remained unanswered, to provide an efficient and compliant actuation. The proposed actuator, which is dedicated to independently motorizing each joint of a robotic system, is designed to be fixed as close as possible to the joint itself, thus enhancing performance while reducing the usual drawbacks of conventional hydraulic actuation. The novel IEHA contains an integrated micro-pump with a floating barrel, allowing the inversion of the flow direction without inverting the rotation of the input electric motor. The integration of a micro-valve and a rotary hydraulic distributor ensure the compactness of the proposed solution. In this paper, the proposed hydraulic actuation principle is first outlined in detail. The designed prototype and the first experiments are then presented, demonstrating the novelty and the efficiency of our solution.