{"title":"Fail-safe components for rehabilitation robots - a reflex mechanism and fail-safe force sensor","authors":"N. Tejima, D. Stefanov","doi":"10.1109/ICORR.2005.1501141","DOIUrl":null,"url":null,"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.","PeriodicalId":131431,"journal":{"name":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICORR.2005.1501141","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 13
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.
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