Abstract
We have proposed a 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 analyze the transient responses of the velocity-based safety device to some ramp inputs. Furthermore, we verify the effectiveness of the velocity-based safety device on the basis of the analysis result.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.