Parallel Safety Control System for Upper-Limb Rehabilitation Robot Considering User Safety

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