说明文案综合.pdf

2015IEEE/RSJInternationalConferenceonIntelligentRobotsandSystems(IROS)

CongressCenterHamburg

Sept28-Oct2,2015.Hamburg,Germany

AWalkingSupportRobotwithVelocity,Torque,andContact

Force-basedMechanicalSafetyDevices

YoshihiroKaiandKaiArihara

—Safetyisoneofthemostimportantissuesinswitchincaseofanemergency.Furthermore,wecanuse

walkingsupportrobots.Wehaveproposedawalkingsupportshockabsorbingmaterialsand/orpassivecompliantjoint

robotequippedwithvelocityandtorque-basedmechanicalmechanismsinordertoreducetheimpactforceincollisions

safetydevices.Thevelocity-basedsafetydeviceandthebetweentherobotandhumans[9],[10].However,preventing

torque-basedsafetydeviceareattachedtoeachdrive-shaftoftherobotfromcollidingwithhumansathighspeedsor

therobot.Ifthevelocity-basedsafetydevicedetectsanexertinglargeforceonhumanswouldbedesirableevenwhen

unexpectedhighangularvelocityofthedrive-shaft,itstopstheweuseshockabsorbingmaterialsand/orpassivecompliant

robot.Ifthetorque-basedsafetydevicedetectsanunexpectedjointmechanisms.

hightorqueofthedrive-shaft,itcutsoffthetorquetransmission

andswitchesoffalloftherobot’smotors.ThispaperproposesaHirata,etal.developedapassive-typewalkingsupport

newwalkingsup