Standing Mobility Device With Passive Lower Limb Exoskeleton for Upright Locomotion

This study proposes a novel standing mobility device aimed at supporting and assisting people with disabled lower limbs. The developed mobility device is capable of assisting voluntary postural transition between standing and sitting by a passive exoskeleton equipped with gas springs, in addition to providing wheeled locomotion in a standing posture using two in-wheel motors. The device allows voluntary natural assisted sit-to-stand motions. Furthermore, it can be operated in the standing posture without using hands. This paper describes the development and assessment of the standing mobility device as well as a pilot study conducted with a person with spinal cord injury. Then, investigation of the mechanical characteristics of the device is presented for further analysis of sit-to-stand and stand-to-sit transfer assistance.