Abstract
In this paper, we develop an ambulation training robot equipped with mechanical safety devices to improve the safety for patients. The safety device consists of only mechanical components without actuators, controllers and batteries. The safety device locks the robot's wheel after detecting the overdrive on the basis of the wheel's angular velocity. First, the design concept of the ambulation training robot is discussed. Second, the mechanism of the safety device is explained. Third, the ambulation training robot equipped with mechanical safety devices is developed. Finally, the usefulness of the safety devices in the ambulation training robot is experimentally examined.
