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

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.