Study on high safety actuator for force display

Abstract

Most of the force display systems being put into practical use are not large enough for many applications such as rehabilitation therapy, designing, games etc. On the other hand, a force display system is a kind of robot that operates in contact with human beings, so it must be safe in all operational conditions. We discuss the characteristics of a middle-sized force display system using ER fluid clutches whose input shafts are driven at low speed and then consider their safety properties.