Development of a rehabilitation robot suit with velocity and torque-based mechanical safety devices

Yoshihiro Kai, Satoshi Kitaguchi, Shotaro Kanno, Wenlong Zhang, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1380-1385
Number of pages6
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Externally publishedYes
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kai, Y., Kitaguchi, S., Kanno, S., Zhang, W., & Tomizuka, M. (2014). Development of a rehabilitation robot suit with velocity and torque-based mechanical safety devices. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1380-1385). [6942737] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942737