Design of a Passive Exoskeleton to Support Sit-to-Stand Movement: A 2D Model for the Dynamic Analysis of Motion

  • Luís P. QuintoEmail author
  • Sérgio B. Gonçalves
  • Miguel T. Silva
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


A significant number of people suffer from musculoskeletal pathologies, which result in limitations in sit-to-stand (STS) movement or during locomotion. Allowing disabled people to stand, can reduce secondary conditions, increasing their life expectancy and reducing healthcare costs. Exoskeletons can be used to support human motion, helping to solve these problems.

This work regards a preliminary study to develop a passive exoskeleton to support sit-to-stand movement. For that purpose, a biomechanical model was implemented in a computational multibody dynamics software, to estimate reaction forces and moments at the joints.

Data concerning STS movement with arm support and STS without arm support was collected. Outcomes include reaction forces and moments calculated at the ankle, knee and hip joints, giving insights about the torque and power requirements for the exoskeleton design.

Preliminary studies revealed that 10% of the force required to perform the standing motion can be granted through the user’s arms action force.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Luís P. Quinto
    • 1
    • 2
    Email author
  • Sérgio B. Gonçalves
    • 2
  • Miguel T. Silva
    • 2
  1. 1.CINAMIL of Academia Militar of the Instituto Universitário MilitarLisbonPortugal
  2. 2.LAETA, IDMEC of Instituto Superior Técnico of the Universidade de LisboaLisbonPortugal

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