Abstract
Although a patient with slight hemiplegia after stroke can stand up by using both his/her legs, he/she stands up by using mainly his/her healthy leg rather than his/her paralyzed leg. Therefore, a therapist guides a patient motion to be able to stand up by using both his/her legs well in balance or by putting more weight on the paralyzed leg. The final goal of our research is to develop a rehabilitation support robot of standing up training for patients with hemiplegia after stroke to restore normal standing up motion. For this purpose, we analyze the therapist's guiding motion, and to design and manufacture a rehabilitation support robot of standing up training on the basis of the analysis results of the therapist's guiding motion. In this paper, we constructed the measure system and analysed the standing up motion of patient and the guiding motion of therapist.
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