Safety Enhancement of a Pneumatic Artificial Muscle Actuated Robotic Orthosis for Gait Rehabilitation

Quy Thinh Dao, Shin Ichiroh Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For the rehabilitation device, the safety of the patient who interacts directly with the robot is the most important issues. Any risks might happen must be detected as soon as possible together with their troubleshooting. This paper addresses the safety issues of the high compliant gait training robotic orthosis named AIRGAIT which actuated by additional bi-articular muscles. Firstly, common problems of the system are carefully investigated and classified into three groups based on their sources including sensor faults, actuator malfunctions, and interrupt of power sources. Secondly, the developed control system capable of detecting the failure and choosing the suitable methods for accident risk reduction. In addition, the existent of the bi-articular muscle is able to provide more safety to human during a collision. The effectiveness of the proposed method is confirmed by experimental results without the participation of any subject.

Original languageEnglish
Title of host publication2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages113-117
Number of pages5
ISBN (Electronic)9781728122298
DOIs
Publication statusPublished - 2019 Jul
Event4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 - Nagoya, Japan
Duration: 2019 Jul 132019 Jul 15

Publication series

Name2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019

Conference

Conference4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
CountryJapan
CityNagoya
Period19/7/1319/7/15

Keywords

  • bi-articular muscles
  • human-robot interaction
  • pneumatic artificial muscle
  • safety

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Control and Optimization

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