| Title |
Parallel Safety Control System for Upper-Limb Rehabilitation Robot Considering User Safety |
| Authors |
백승환(Seunghwan Baek) ; 박성원(Sung-Won Park) |
| DOI |
https://doi.org/10.5370/KIEEP.2022.71.3.175 |
| Keywords |
Rehabilitation Robot; Medical Device; Robot Safety; Parallel Safety; Robot Design; Safety Design |
| Abstract |
This study proposes a parallel safety control system for upper-limb rehabilitation robots to ensure patient safety. The mechanical and electrical safety devices to ensure patient safety are designed and developed to operate in several stages. The mechanical safety device is configured in a way to set the limit, and the electrical safety is constructed considering electrical insulation and failure.
The safety switch could directly and immediately stop the robot's motion, and it is also implemented by the software safety switch for hazardous situations. The electrical safety system, the safety switching system, and the monitoring system are designed in a multiplexed structure that operates organically at any time in case of danger at various stages to ensure reliability against failures and malfunctions |