TY - GEN
T1 - Development of a rehabilitation robot suit with velocity and torque-based mechanical safety devices
AU - Kai, Yoshihiro
AU - Kitaguchi, Satoshi
AU - Kanno, Shotaro
AU - Zhang, Wenlong
AU - Tomizuka, Masayoshi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - Safety is one of the most important issues in rehabilitation robot suits. We have proposed the structure of a rehabilitation robot suit equipped with two mechanical safety devices. The robot suit assists a patient's knee joint and the safety devices consist of only passive mechanical components without actuators, controllers, or batteries. We call one device the 'velocity-based safety device' and the other the 'torque-based safety device'. We expect a robot suit with the safety devices to be able to guarantee the safety even when the computer fails to operate functionally. In this paper, we begin by reviewing the characteristics of the safety devices and the structure of the rehabilitation robot suit equipped with the safety devices. Then we show a prototype robot suit developed based on the proposed structure. Finally, experimental results are demonstrated to verify the effectiveness of the safety devices in the prototype robot suit.
AB - Safety is one of the most important issues in rehabilitation robot suits. We have proposed the structure of a rehabilitation robot suit equipped with two mechanical safety devices. The robot suit assists a patient's knee joint and the safety devices consist of only passive mechanical components without actuators, controllers, or batteries. We call one device the 'velocity-based safety device' and the other the 'torque-based safety device'. We expect a robot suit with the safety devices to be able to guarantee the safety even when the computer fails to operate functionally. In this paper, we begin by reviewing the characteristics of the safety devices and the structure of the rehabilitation robot suit equipped with the safety devices. Then we show a prototype robot suit developed based on the proposed structure. Finally, experimental results are demonstrated to verify the effectiveness of the safety devices in the prototype robot suit.
UR - http://www.scopus.com/inward/record.url?scp=84911464325&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911464325&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6942737
DO - 10.1109/IROS.2014.6942737
M3 - Conference contribution
AN - SCOPUS:84911464325
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1380
EP - 1385
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -