Abstract
Sit-to-stand (STS) transfer is a basic and important motion function in daily living. Most currently-existing studies focus on movement assistance for patients who lost mobility or have impaired their muscle strength. In this article, a hip-active lower limb support exoskeleton is designed to assist load bearing STS transfer for healthy persons. In order to provide effective assistance, a self-designed quasi-direct drive actuator is adopted to compose the actuation module and a load bearing stand up assistance strategy is designed based on virtual modwhutel control and gravity compensation. Control parameters are optimized in a musculoskeletal simulation environment with kinematic and kinetic data obtained from the wearer. The experimental results show that muscle activation levels of gluteus maximus and semimembranous are reduced with the help from the proposed exoskeleton during load bearing STS transfer.
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This work was supported by the National Natural Science Foundation of China under Grant 61603284 and 61903286.
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Zhou, J., Zeng, Q., Tang, B., Luo, J., **ang, K., Pang, M. (2022). A Hip Active Lower Limb Support Exoskeleton for Load Bearing Sit-To-Stand Transfer. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13456. Springer, Cham. https://doi.org/10.1007/978-3-031-13822-5_3
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DOI: https://doi.org/10.1007/978-3-031-13822-5_3
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