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

Quy Thinh Dao, Shin Ichiroh Yamamoto

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2019 4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ113-117
ページ数5
ISBN(電子版)9781728122298
DOI
出版ステータスPublished - 2019 7
イベント4th Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2019 - Nagoya, Japan
継続期間: 2019 7 132019 7 15

出版物シリーズ

名前2019 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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems
  • Control and Optimization

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