JRM Vol.16 No.5 pp. 473-481
doi: 10.20965/jrm.2004.p0473


Force Analysis of Exoskeletal Robotic Orthoses for Judgment on Mechanical Safety and Possibility of Assistance

Kiyoshi Nagai*, and Isao Nakanishi**

*Department of Robotics, Ritsumeikan University, 1-1-1 Noji-higashi, Kusatsu, Shiga 525-8577, Japan

**TOME R&D Inc. 134 Chudoji-Minamicho, Shimogyo-ku, Kyoto 600-8813, Japan

March 11, 2004
May 21, 2004
October 20, 2004
exoskeletal robotic orthosis, mechanical safety, possibility of assistance, force analysis, mechanical design

We discuss analysis to judge whether an exoskeletal robotic orthosis may assist in providing force while theoretically guaranteeing user safety. First, we explain our basic concept on how to make this judgment. Second, we propose a theory for simultaneously evaluating mechanical safety for the user and the possibility of assistance based on force analysis. We then study feasibility with a numerical example, and detail an application of the proposed method to mechanical design of an exoskeletal robotic orthosis.

Cite this article as:
Kiyoshi Nagai and Isao Nakanishi, “Force Analysis of Exoskeletal Robotic Orthoses for Judgment on Mechanical Safety and Possibility of Assistance,” J. Robot. Mechatron., Vol.16, No.5, pp. 473-481, 2004.
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