Electrohydraulic Exoskeletons with Haptic Sensation Powered/Cooled by Robot Blood
Abstract
Electrohydraulic Exoskeletons with Haptic Sensation Powered/Cooled by ~~~Robot Blood~~~ Principal Investigator: Assistant Professor Robert Shepherd Cornell University 553 Upson Hall, Ithaca NY 14853; (607) 255-8654, rfs247@cornell.edu http://orl.mae.cornell.edu The goal of this research is to use flow cell battery chemistry as the working fluid in a hydraulically actuated exoskeleton, it will provide benefits akin to blood in animals. The use of this fluid will improve the energy density of the system overall by forming a diffuse battery over the entirety of the robot. The vision of the system is one of a robotic circulatory system where the blood is actually the anolyte and catholyte of the flow cell battery. As another function of blood is thermal management, we will naturally be able to incorporate that capability in the exoskeleton’s circulatory system. While this system will be applicable broadly (to vehicles, robots, exoskeletons), we will apply it to an advanced exoskeleton that not only augments force, but also monitors the health of the wearer and senses details of the environment using optoelectronics. When unpowered, the suit will provide no more resistance to motion than would a typical wet suit. To achieve these goals we will: 1. Develop a flow cell battery capable of motion and actuation. 2. Synthesize anolyte and catholyte material compatible with the exoskeletal actuators. 3. Form the electrohydraulic actuators and sensor arrays into a demonstration upper limb exoskeletal system. 4. Program a circulatory system that effectively transports electrolyte from hot spots (i.e., motors) to the surface of extremities for cooling. 5. Develop a control scheme for this exoskeleton using the embedded optoelectronic sensors to detect intent by the wearer. The electro-hydraulically actuated exoskeletal system will allow Marines to manipulate heavier objects or to compensate for increased difficulty in movement. Our optoelectronic, stretchable sensing skins will allow feedback control during manipulation, as well as a detection system for impacts or damage to the Marine. While the anolyte and catholyte will necessarily have higher density than standard hydraulic fluid, there will be no need for a normal on-board battery—yielding a weight savings in the total system. Through intelligent programming of the fluidic actuation, we will be able to use the artificial circulatory system for thermal management with little extra energetic cost. Tota Funds Requested: $510,000 Approved for Public Release
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Sep 25, 2017
- Source ID
- N000141712837
Entities
People
- Robert F Shepherd
Organizations
- Cornell University
- Office of Naval Research
- United States Navy