抄録
In this paper, we present and develop a gait training robot equipped with mechanical safety devices and torque limiters. The mechanical safety devices and torque limiters consist of only mechanical components without actuators, controllers and batteries. The mechanical safety device is attached to each drive-shaft of the robot. If the angular velocity of a drive-shaft exceeds a preset level, the corresponding mechanical safety device switches off all motors of the robot and locks the drive-shaft. The switch-off mechanisms using the torque limiters are mounted on the robot. If the torque acting on a drive-shaft exceeds a preset level, the switch-off mechanism switches off all motors of the robot. First, we describe the gait training robot. Second, we explain the mechanical safety device. Third, we explain the torque limiter and the switch-off mechanism using the torque limiter. Finally we experimentally examine the usefulness of the mechanical safety devices, the torque limiters and the switch-off mechanism.
