A Procedure for the Design of Novel Assisting Devices for the Sit-to-Stand

doi:10.1016/S1672-6529(13)60249-8

Abstract

Abstract:

The Sit-to-Stand (STS) is an activity most people perform numerous times daily. Standing up deals with the transition from two stabilized postures, namely seated to standing, with movement of all body segments except the feet. During the STS the body’s Center of Gravity (COG) is moved upward from a sitting position to a standing position without losing balance and requiring a good coordination of many muscles. Three main phases of the STS movement can be recognized. One begins to stand up by inclining the upper body forward, which moves body mass toward the feet in order to maintain balance after lift-off. Prior to leaving the chair, hip and knee extensor muscles are activated to provide antigravity support for these joints, this action is commonly referred to as “weight shift”. Finally, after leaving the chair, the leg and trunk joints are straightened to achieve upright stance. The STS task can be considered of major importance for impaired and elderly people to achieve minimal mo-bility and independence. In this paper we detail a procedure for the design of assisting devices to be used for the STS. In par-ticular, an experimental procedure is described firstly to track and record point trajectories and the orientation of the trunk during the STS. This analysis is then used to get information for the design of assisting devices. A proposal and simulation results are presented for a novel mechatronic system. In particular, for the case under study experimental tests are used to drive the actua-tion system for the reported simulation. A functional mechatronic scheme is then proposed to control the device during its operation.

Key words: mechatronic design, experimental evaluation, simulation, Sit-to-Stand, assisting devices

Pierluigi Rea, Erika Ottaviano, Gianni Castelli. A Procedure for the Design of Novel Assisting Devices for the Sit-to-Stand[J].J4, 2013, 10(4): 488-496.

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