Analysis of exoskeletal robotic orthoses concerning possibility of assistance and user's safety

摘要

We discuss an analytical method to judge whether an exoskeletal robotic orthosis has the possibility of producing assisting forces while theoretically guaranteeing the user's safety. Our basic idea on how to make this judgment is described. Then a theoretical method to simultaneously evaluate the possibility of assistance and the user's safety is proposed, and its validity is investigated with a numerical example.