Development of a Power Assisted Handrail – Handrail Trajectory and Standing Up Motion

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We developed a handrail which can provide functional assistance. The result of basic experiment shows the force on the handrail could be used to expect the center of gravity of the user. And also, the handrail could assist the moving ability of a subject who cannot stand up even if using the normal handrail. In future, establish the human standing up modeling and adaptive handrail controlling for the handrail.