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Wearable robots are limited by their actuators performances because they mustbear the weight of their own power system and energy source. This paperexplores the idea of leveraging hybrid modes to meet multiple operating pointswith a lightweight and efficient system by using hydraulic valves todynamically reconfigure the connections of a hydrostatic actuator. The analyzedopportunities consist in 1) switching between a highly geared power source or afast power source, 2) dynamically connecting an energy accumulator and 3) usinga locking mechanism for holding. Based on a knee exoskeleton case studyanalysis, results show that switching between gearing ratio can lead to alighter and more efficient actuator. Also, results show that using anaccumulator to provide a preload continuous force has great mass-savingpotential, but does not reduce mass significantly if used as a power boosterfor short transients. Finally, using a locking valve can slightly reducebattery mass if the work cycle includes frequent stops. The operatingprinciples of the proposed multimodal schemes are demonstrated with a one-DOFprototype.

Multimodal Hydrostatic Actuators for Wearable Robots: A Preliminary Assessment of Mass-Saving and Energy-Efficiency Opportunities