Passive Exoskeleton for Assisting Sitting-Standing Transition with a Lumbar Support Mechanism

摘要

In the current work, we present a support mechanism for assisting the posture transitionssitting to standing and standing to sitting for persons with spinal cord injury (SCI). The mech-anism presented aims to fully support the transition at knees and pelvis joints for persons withcomplete lower body impairments. Through a power ow principle, we have designed a mech-anism that uses the upper body motions to convey the user's intentions and allows controllingthe motion in a natural way by inclining the upper body. We present here the motion analysisand mechanism design, evaluated in a pilot study with a volunteer subject.