Fail-safe components for rehabilitation robots - a reflex mechanism and fail-safe force sensor

Author

Tejima, Noriyuki ; Stefanov, Dimitar

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Japan

fYear

2005

fDate

28 June-1 July 2005

Firstpage

456

Lastpage

460

Abstract

Two components for reducing the risks associated with rehabilitation robots are proposed. First, a reflex mechanism, which is similar to the biological reflex, is proposed. The experimental results of a prototype prove its effectiveness for reducing impact force. A new reflex mechanism structure is also proposed for improving its reliability. A reflex system composed only of electrical circuits is also discussed. Second, a fail-safe force sensor is proposed, which realizes a safe force/torque feedback control for rehabilitation robots. It can be realized by various structures. Its application to autonomous wheelchairs is discussed for improving their safety and usability.

Keywords

force control; force feedback; force sensors; handicapped aids; impact (mechanical); medical robotics; patient rehabilitation; torque control; autonomous wheelchairs; biological reflex; electrical circuits; fail-safe components; fail-safe force sensor; force feedback control; impact force reduction; reflex mechanism; rehabilitation robots; torque feedback control; Circuits; Feedback control; Force feedback; Force sensors; Mobile robots; Prototypes; Rehabilitation robotics; Robot sensing systems; Safety; Wheelchairs;

fLanguage

English

Publisher

ieee

Conference_Titel

Rehabilitation Robotics, 2005. ICORR 2005. 9th International Conference on

Print_ISBN

0-7803-9003-2

Type

conf

DOI

10.1109/ICORR.2005.1501141

Filename

1501141