Developing Safety Measures for a Wheelchair-Compatible Physical Assistive System with Sit-To-Stand Movement Support

Abstract

The safety of physically disabled persons must be considered during the initial developmental stages of a rehabilitative or assistive device to prevent death or injury. Thus, in the research eld of biomedical engineering, researchers specializing in physical assistive system development must take the initiative to ensure user safety. This paper proposes methods to plan and implement safety measures for physical assistive systems, using a wheelchair-compatible system with sit-to-stand (STS) movement support as an example. To promote daily independent active exercise and motor learning with progressively less assistance from specialists, the support system does not require the attachment of any device or sensor onto the user s body. To ensure safety, we rst identi ed the possible dangers of injury or other potential hazards involved in STS movement support. Next, we developed safety measures to prevent all the identi ed dangers of injury and hazards. The steps taken to develop these safety measures were submitted for ethical review. Finally, we con rmed the effectiveness of the safety measures developed by conducting fundamental and realistic experiments. The safety measures described in this paper were developed for the STS support system, but the method used to identify the required safety measures can be implemented in the development of any physical assistive system. The proposed method will help engineers to improve the safety of rehabilitative and assistive devices.

Spatial Muscle Coordination based Network Modeling and Analysis of Sit-to-Stand Transition with and without Robot Assistance

“…Related work about STS assistance robots. (a) [3], (c) [4], (e) [5], (f) [6], (h) [7], (i) [8], (k) [9], (l) [10], (m) [11], (n) [12], and lower limbs: (b) [13], (d) [14], (g) [15], (j) [16].…”

“…This shift encourages user participation by allowing real-time regulation of torque outputs, fostering a more dynamic and user-engaged STS process. In response to these challenges, innovative robotic designs have emerged, including a wheelchair type robot supporting lower limbs [14] and a chair-type robot developed by Matjačić and colleagues for providing STS support services [15].…”

“…In-depth investigations into various aspects of human motion, such as ankle, knee, hip, pelvis, and trunk displacement, have been conducted to provide a comprehensive understanding of STS dynamics [15]. The study of knee torque [13], vertical ground reaction force [14], [15], and electromyography (EMG) analyses focusing on muscles like Vastus Lateralis, Vastus Medialis, and Rectus Femoris [13] contribute valuable insights into the intricate dynamics of STS when assisted by a robot. Similar studies extending to multiple lower limb muscles, including tibialis anterior, soleus, gastrocnemius, quadriceps, and hamstrings, have enriched our knowledge of muscle activities during STS [15].…”