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An assistant robot with standing-up devices(ARSD) was developed according to the demands of paraplegic patients and elderly people. The robot can assist disabled persons during the sit-to-stand transfer and can also carrying them to move. In order to make the design and development of the robot more efficient and reliable, virtual prototype technology was employed. The model of the robot is built by Solid Works and is imported to ADAMS through Para Solid pipe. An algorithm based on neural network speed control was presented to implement path following for the robot. Furthermore, a co-simulation was performed using ADAMS and MATLAB to validate the control strategy.