Advertisement

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

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

Abstract

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.

References

  1. 1.
    WHO | Spinal Cord Injury. WHO. http://www.who.int/mediacentre/factsheets/fs384/en/. Accessed 16 Nov 2016
  2. 2.
    Chen, B., et al.: Recent developments and challenges of lower extremity exoskeletons. J. Orthop. Transl. 5, 26–37 (2016)Google Scholar
  3. 3.
    Quinto, L., Gonçalves, S.B., Silva, M.T.: Exoesqueletos para membros inferiores: Estado da arte. Presented at the Congresso Nacional de Biomecânica, Guimarães, Portugal (2017)Google Scholar
  4. 4.
    Dollar, A.M., Herr, H.: Lower extremity exoskeletons and active orthoses: challenges and state-of-the-art. IEEE Trans. Robot. 24(1), 144–158 (2008)CrossRefGoogle Scholar
  5. 5.
    Janssen, W.G., Bussmann, H.B., Stam, H.J.: Determinants of the sit-to-stand movement: a review. Phys. Ther. 82(9), 866–879 (2002)Google Scholar
  6. 6.
    Winter, D.A.: Biomechanics and Motor Control of Human Movement, 4th edn. Wiley, Hoboken (2009)CrossRefGoogle Scholar
  7. 7.
    Silva, M.T.: Human Motion Analysis Using Multibody Dynamics and Optimization Tools. Instituto Superior Técnico - Universidade Técnica de Lisboa, Lisboa, Portugal (2003)Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Luís P. Quinto
    • 1
    • 2
  • 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

Personalised recommendations