メカニカル安全装置を搭載したコンパクトなロボットスーツの開発(詳細設計)

抄録

We have proposed the basic structure of a compact robot suit with two hardware-based safety devices - the “velocity-based safety device” and the “torque-based safety device”. The robot suit assists a patient's knee joint. The torque-based safety device stops the robot suit if it detects an unexpected high joint torque. Similarly, the velocity-based safety device stops the robot suit if it detects an unexpected high joint angular velocity. The safety devices work even when the computer breaks down, because they consist of only passive mechanical components without actuators, controllers, or batteries. In this paper, we describe the detailed design of the robot suit.