Abstract
Sit-to-stand is a common activity in daily life. It is difficult for the elderly and patients with lower limb disorders to complete this motion due to limb pain, muscle weakness, partial loss of motor control function, and physical defects in joints. An STS assistive device is a piece of automated medical equipment that can facilitate rehabilitation training for patients with lower limb disorders and improve their lower limb function. In this paper, we introduce a 3-DOF series type STS assistive device. First, we selected 26 healthy adults to carry out an STS transfer experiment, and we obtained the trajectory and velocity of each joint and the law of plantar pressure during STS motion. Second, based on the above kinematics and dynamics law, a 3-DOF series mechanism was designed. Through forward and inverse kinematics analysis, the relationship between the end-effector and the linear actuator was established. The trajectory planning of the end-effector was carried out according to the natural STS transfer trajectory, and the law of the linear actuator was obtained. The trajectory planning was verified by ADAMS. Finally, the Arduino controller was used to build the control system of the STS assistive device, and the prototype experiment was carried out.
Highlights
Sit-To-Stand (STS) is considered to be the most common functional activity in daily life, and it is a prerequisite for other activities
Based on the kinematics law, we put forward the design scheme of the STS assistive device, carried out kinematics analysis to realize the optimal trajectory planning, and verified the trajectory planning through the simulation of ADAMS
Through comparative analysis with the joint trajectories obtained from the ADAMS simulation of the STS assistive device, we found that the movement trend was largely the same, which proved the correctness of the simulation analysis
Summary
Sit-To-Stand (STS) is considered to be the most common functional activity in daily life, and it is a prerequisite for other activities. It can be defined as a motion in which the base of support is transferred from the seat to the feet [1,2,3,4], and it can be defined as the transfer between a stable posture (sit) and a less stable posture (stand) [5] It is difficult for the elderly and patients with lower limb disorders to complete this motion due to limb pain, muscle weakness, partial loss of motor control function, and physical defects in joints [6,7,8]. Ottaviano E et al [19] obtained the law of STS transfer of the human body using a Kinect motion capture system They proposed three kinds of STS assistive devices with different DOF and carried
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
