Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Abstract

This paper presents a performance evaluation and results on the modelling and simulation of an assisting device to be used as aiding or guiding system for people with reduced mobility. There is a high level of motivation for elderly to perform independently basic Activities of Daily Life (ADL). Therefore, it is of great interest to design and implement reliable assisting devices that are able to help end-users mobility. Sit-To-Stand represent one of the most common ADL and a number of different devices have been proposed to reproduce a "normal-like" movement. In general, a robot for a medical application should be able to interact with a patient in safe conditions, i.e., it must not damage people or surroundings; it must be designed to guarantee high accuracy and low accelerations during the operation. In addition, it should not be too bulky to interact closely with people. It can be advisable to have an easy-in-use and low-cost system, which can be used also in a domestic environment. In this study, a performance evaluation of a Sit-To-Stand assisting device is analyzed in terms of main characteristics, such as kinematic features and actuation requirements. Experimental tests were used to analyze a "normal-like" Sit-To-Stand movement and simulation results have been reported by considering a model of the human body interacting with the proposed assisting device.