We investigated small-scale hydraulic power system using a system level analysis, where small-scale refers to systems generating 10 to 100 Watts output power, to determine whether the high power density advantage of hydraulic power system holds at small sizes. Hydraulic system power density was analyzed with simple mathematical models and compared to an equivalent hypothetical electromecha-nical system constructed from high-end off-the-shelf components. Calculation results revealed that high operating pressures are needed for smallscale hydraulic power systems to be lighter than the equivalent electromechanical system.

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A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer’s skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented.

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