Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit)
When developing rehabilitation assist suits, safety consideration for patients is crucial. Computer-aided control techniques can improve their safety. However, when the computer breaks down, the assist suit may be dangerous for the user because of its unintentional motion. Therefore, assist suits wi...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2017-11-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00279/_pdf/-char/en |
| _version_ | 1811221169296113664 |
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| author | Masahito SUGIYAMA Keisuke IKEDA Tsubasa KANEDA Yoshihiro KAI Masayoshi TOMIZUKA |
| author_facet | Masahito SUGIYAMA Keisuke IKEDA Tsubasa KANEDA Yoshihiro KAI Masayoshi TOMIZUKA |
| author_sort | Masahito SUGIYAMA |
| collection | DOAJ |
| description | When developing rehabilitation assist suits, safety consideration for patients is crucial. Computer-aided control techniques can improve their safety. However, when the computer breaks down, the assist suit may be dangerous for the user because of its unintentional motion. Therefore, assist suits with hardware-based safety devices are desired to guarantee safety even when the computers do not operate properly. In this paper, we present a new rehabilitation assist suit equipped with a velocity-based safety device and a torque limiter. The assist suit assists a patient's knee joint. The velocity-based safety device switches off the assist suit's motor if it detects an unexpected high joint angular velocity. The torque limiter cuts off the torque transmission if it detects an unexpected high joint torque. These safety devices will work even when the computer breaks down, because they consist of only passive mechanical components without actuators, controllers, or batteries. Firstly, we describe the features of the assist suit with the safety devices. Secondly, we introduce the structure of the assist suit. Thirdly, we explain the structure and mechanism of the velocity-based safety device. Fourthly, we show the prototype assist suit that we have developed. Finally, we present experimental results to verify the effectiveness of the velocity-based safety device installed on the developed assist suit. |
| first_indexed | 2024-04-12T07:53:25Z |
| format | Article |
| id | doaj.art-961110007de548af99ffea3595831791 |
| institution | Directory Open Access Journal |
| issn | 2187-9761 |
| language | Japanese |
| last_indexed | 2024-04-12T07:53:25Z |
| publishDate | 2017-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Nihon Kikai Gakkai ronbunshu |
| spelling | doaj.art-961110007de548af99ffea35958317912022-12-22T03:41:32ZjpnThe Japan Society of Mechanical EngineersNihon Kikai Gakkai ronbunshu2187-97612017-11-018385617-0027917-0027910.1299/transjsme.17-00279transjsmeDevelopment of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit)Masahito SUGIYAMA0Keisuke IKEDA1Tsubasa KANEDA2Yoshihiro KAI3Masayoshi TOMIZUKA4Department of Mechanical Engineering, Tokai UniversityDepartment of Mechanical Engineering, Tokai UniversityDepartment of Mechanical Engineering, Tokai UniversityDepartment of Mechanical Engineering, Tokai UniversityDepartment of Mechanical Engineering, University of California, BerkeleyWhen developing rehabilitation assist suits, safety consideration for patients is crucial. Computer-aided control techniques can improve their safety. However, when the computer breaks down, the assist suit may be dangerous for the user because of its unintentional motion. Therefore, assist suits with hardware-based safety devices are desired to guarantee safety even when the computers do not operate properly. In this paper, we present a new rehabilitation assist suit equipped with a velocity-based safety device and a torque limiter. The assist suit assists a patient's knee joint. The velocity-based safety device switches off the assist suit's motor if it detects an unexpected high joint angular velocity. The torque limiter cuts off the torque transmission if it detects an unexpected high joint torque. These safety devices will work even when the computer breaks down, because they consist of only passive mechanical components without actuators, controllers, or batteries. Firstly, we describe the features of the assist suit with the safety devices. Secondly, we introduce the structure of the assist suit. Thirdly, we explain the structure and mechanism of the velocity-based safety device. Fourthly, we show the prototype assist suit that we have developed. Finally, we present experimental results to verify the effectiveness of the velocity-based safety device installed on the developed assist suit.https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00279/_pdf/-char/enrobotdesignmechanismrehabilitation assist suitmechanical safety device |
| spellingShingle | Masahito SUGIYAMA Keisuke IKEDA Tsubasa KANEDA Yoshihiro KAI Masayoshi TOMIZUKA Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) Nihon Kikai Gakkai ronbunshu robot design mechanism rehabilitation assist suit mechanical safety device |
| title | Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) |
| title_full | Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) |
| title_fullStr | Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) |
| title_full_unstemmed | Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) |
| title_short | Development of a knee joint assist suit with hardware-based safety devices (Proposal and design of the assist suit) |
| title_sort | development of a knee joint assist suit with hardware based safety devices proposal and design of the assist suit |
| topic | robot design mechanism rehabilitation assist suit mechanical safety device |
| url | https://www.jstage.jst.go.jp/article/transjsme/83/856/83_17-00279/_pdf/-char/en |
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