Abstract
Sit-to-stand can be considered the most common daily-life activity and it can be defined as a change of posture, in which the base of support is transferred from the seat to the feet. It requires both voluntary movement of different body segments that contribute to the equilibrium and control during an important displacement of the Centre Of Gravity of the body. This activity can be considered of crucial importance for elderly and people with reduced mobility to achieve minimal independence in daily-life at home. In this study, we present and compare three design solutions for the support mechanisms to be used in assisting mechatronic devices. The reported solutions and considerations are supported by experimental activity, which was carried out during trials to track and record trajectories and the orientation of the trunk of the body during the sit-to-stand.
Highlights
A reduced mobility due to physiological degradation of the motor system by aging or neurological diseases can have widespread, detrimental effects for older adults and accelerate the process of ageing
Simulation tests were carried out considering the 3 design solutions proposed in the previous section
Simulation results for the 2 DOF support mechanism in Fig. 5: (a) displacement along x; (b) torque of the motor to obtain the displacement along x-axis; (b) displacement along y-axis; (d) torque of the motor to obtain the displacement along y-axis (a)
Summary
A reduced mobility due to physiological degradation of the motor system by aging or neurological diseases can have widespread, detrimental effects for older adults and accelerate the process of ageing. Taking into account these issues, in our studies of the human movement and in developed procedures, we have considered either the COG trajectory (or other points of interest) and the orientation of the trunk This will lead to considerations on the synthesis of the mechanism to support and sustain the body during the sit-to-stand. Once that the problem is solved the resulting equation is the 6th order polynomial expression of point P given in the fixed frame, when a single actuation is given at point B0 For this design solution the interaction between the system and the end-user takes place through the armpit, an interface similar to the previous case has to be considered
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