M. Tomita et al., A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion, JSME C, 43(4), 2000, pp. 949-956
Citations number
9
Categorie Soggetti
Mechanical Engineering
Journal title
JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING
We are developing basic technology for a walking-support system. As part of
this technology, we have determined the best support-arm path for assisted
standing-up and sitting-down motion of an elderly person who can sit but c
annot stand up. We developed a program for analyzing the load acting on low
er-limb joints during the motion. Experimentally measured joint positions a
nd floor-reaction force enabled us to calculate joint torque during motion
along several paths by using the Newton-Euler formulation. And we evaluated
the supporting performance of the paths of a machine arm. These calculatio
ns indicate that a linear interpolating path minimizes the necessary joint
torque for assisting standing-up or sitting-down motion. A sensory evaluati
on test showed that users tend to feel comfortable when the path shape is s
imilar to that of unassisted motion and when hip trajectory is smooth.