Human Motion Law Based Design and Control for Sit-to-Stand Assisting Devices

摘要

Sit-to-stand is an essential motion in daily life. As sit-to-stand motion deals with the transition from two stabilized postures, the coordination of body and the muscle strength of lower limb were highly required at same time. So it is difficult for the elderly and impaired people to complete sit-to-stand motion independently. Sit-to-stand rehabilitation training can improve the muscle strength of the elderly and impaired people, enhancing the coordination ability of the human body, and improving the ability of self-care. Sit-to-stand assisting devices are able to help elderly and impaired people better to complete sit-to-stand transfer and rehabilitation training in daily life, and relieve the work of caregiver. Because the whole body coordinated movement is needed in sit-to-stand motion, the trajectory planning of the end-effector of sit-to-stand assisting devices is very important for achieving the correct sit-to-stand motion posture. In this paper we detail a procedure for design and trajectory control for sit-to-stand assisting devices. Firstly, the experiment of sit-to-stand motion was carried out, and the trajectory and orientation of knee, hip and shoulder were monitored and acquired. Secondly, this paper summarizes the motion law of sit-to-stand motion, divides the process of sit-to-stand motion into four phases: initial, balance, rising and stable phase, and gives the motion trajectory of the end-effector for sit-to-stand assisting devices. Finally, the mechanism of sit-to-stand assisting devices is designed, and the mechatronic control system is constructed to control the sit-to-stand assisting devices.