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Abstract
Human safety is one of the most important issues in human-friendly robotics. We have proposed the safety device to improve the safety for humans in the robot's workspace. The safety device consists of only mechanical components without actuators, controllers and batteries. The safety device locks the robot's joint after detecting the overdrive on the basis of the joint's angular velocity. In this paper, first, the mechanism of the safety device is explained briefly. Second, the mechanism of the safety device is theoretically analyzed. Third, the safety device is designed and developed on the basis of the analysis results. Finally, the usefulness of the safety device is experimentally examined.
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