A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications
🤖 AI Summary
Current sit-to-stand (STS) training devices lack adaptability to diverse functional mobility levels, limiting functional recovery and failing to mitigate readmission risk. This study introduces a ground-based, two-degree-of-freedom rehabilitation robot integrating impedance control, center-of-pressure–based weight-bearing unloading, and forward-directed virtual spring mechanics to deliver personalized mechanical assistance during STS transitions. The system enables continuously adjustable vertical unloading (accuracy ±2.5% body weight) and forward assistive force (equivalent stiffness 0.5–3.0 kN/m), while remaining compatible with commercial lift-and-transfer functionality. Its reconfigurable mechanical architecture supports integrated, multimodal training. Experimental evaluation in healthy adults demonstrated significantly reduced movement perturbation (joint angle deviation <3.2°), preservation of natural standing trajectories, precise unloading, and effective upright assistance. This work establishes a novel paradigm for individualized, biomechanically informed STS rehabilitation.
Application Category
📝 Abstract
The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are unable to adjust the STS training to different mobility levels. Therefore, We have developed an STS training device that allows various configurations of impedance and vertical/forward forces to adapt to many training needs while maintaining commercial raising aid transfer capabilities. Experiments with healthy adults (both men and women) of various heights and weights show that the device 1) has a low impact on the natural STS kinematics, 2) can provide precise weight unloading at the patient's center of mass and 3) can add a forward virtual spring to assist the transfer of the bodyweight to the feet for seat-off, at the start of the STS motion.
Problem
Research questions and friction points this paper is trying to address.
Develops a robot for sit-to-stand training with adjustable impedance and forces
Adapts to various mobility levels while maintaining transfer capabilities
Provides precise weight unloading and forward assistance during motion
Innovation
Methods, ideas, or system contributions that make the work stand out.
Two degrees-of-freedom floor-based robot for transfer and rehabilitation
Adjustable impedance and vertical/forward forces for varied training needs
Provides precise weight unloading and forward virtual spring assistance
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