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.
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