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.
Sit-to-stand (STS) movement is a very common task for the elderly and the patients with lower limb dysfunction in daily life. We hope to summarize the methods of STS experiment and the factors affecting STS, and provide a reference for future STS experimental researches. We selected the relevant STS experimental studies, analyzed and compared the methods and results of these studies, and the suggestions for future research were made. In the exploration of STS movement experiment, human biomechanical data, kinematic data, kinetic data, time and subjective evaluation of subjects are all important indicators reflecting STS performance. External factors, individual factors of subjects and STS strategies also have a significant impact on the movement performance of STS. Simulation of human body can eliminate the influence of subjective factors on the movement of human body, and set anthropometry parameters more conveniently. We found that the influences of folding arms, hand support and knee support modes on STS need to be explored deeply. The appropriate weight reduce ratio for rehabilitation training system need to further study. We need to continue to explore new technologies to find the methods to create a human biomechanical model with higher simulation degree, improving the accuracy of the simulation.
Background: Completing the transition from a sitting position to a standing position is a basic skill in people’s daily lives and is crucial for independent living. Lower limb dysfunction will bring many inconveniences into a person’s life and greatly affect their quality of life. Patients with lower limb dysfunction are a specialized group, and nursing problems for this group are becoming increasingly serious. Helping patients with lower limb dysfunction restore their lower limb mobility or assisting them to walk is a social problem necessary to be solved. Objective: : To review the recent sit-to-stand assistive devices based on hip support, classify them systematically and introduce their characteristics, including the mechanisms and the types of patients for which such mechanisms are applicable; to help patients with lower limb dysfunction or doctors (therapists) understand and choose a reasonable sit-to-stand assist device based on hip support. Methods: This paper summarizes literatures and patents about sit-to-stand assistive devices. From the aspects of structural characteristics, drive type and support modes based on the hip and applications situation, the advantages and disadvantages of the typical sit-to-stand assist devices are represented. Results: Current and future development trends on the structural characteristics, drive type and support modes based on the hip and applications situation of sit-to-stand assist devices are discussed to improve the humanization, modularization and applicability of sit-to-stand assist devices. Conclusion: Sit-to-stand assistive devices based on hip support can help patients improve the quality of their life, assist patients carrying out rehabilitation training, and delay the decline of lower limb function. However, the existing sit-to-stand assistive devices based on hip support need further improvement in the aspects of motion mechanism, new technology application and ergonomics design.
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