Design of Robotic Orthosis Assisting Human Motion in Production Engineering and Human Care

Kiyoshi NAGAI, Isao NAKANISHI, Taizo KISHIDA
Ritsumeikan University

Abstract

Mechanical design of robotic orthoses capable of assisting human forearm motion is discussed. The robotic orthoses should be carefully designed such that two basic specifications will be satisfied simultaneously; 1) human motion is assisted, and 2) the user is safe and anxiety-free. A design concept for the robotic orthoses is presented first. A prototype of a robotic orthosis for production engineering is then described. Another design of robotic orthoses for human care is also discussed. A power assisting control scheme for the robotic orthoses with a macro-micro structure is proposed and investigated using simulations.
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Last modified: Thu Jan 21 10:38:39 PST 1999