Scheduled System Maintenance:
On May 6th, single article purchases and IEEE account management will be unavailable from 8:00 AM - 5:00 PM ET (12:00 - 21:00 UTC). We apologize for the inconvenience.
By Topic

Approach in Assisting a Sit-to-Stand Movement Using Robotic Walking Support System

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Chuy, O. ; Dept. of Bioeng. & Robotics, Tohoku Univ., Sendai ; Hirata, Y. ; Zhidong Wang ; Kosuge, K.

This paper presents an approach in assisting a sit-to-stand movement using a robotic walking support system. In general, robotic walking support system is used to provide walking stability. We will extend its function to assist a user in executing a sit-to-stand movement. The first approach would be called passive support. In this approach, the support system would be stationary as the user execute the sit-to-stand movement. The knee torque would be determined and this would be compared to a sit-to-stand movement without support. The second approach would be called active support and the knee torque would be supported. A motion control algorithm would be proposed such that the support system will move based on the supporting torque. The actual experimentation on both approaches in assisting a sit-to-stand movement will be presented. The experimental result on active support shows the validity of the proposed motion control algorithm

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

9-15 Oct. 2006