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.
Authors would like to thank the Portuguese Army and LAETA for supporting this investigation.
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Quinto, L.P., Gonçalves, S.B., Silva, M.T. (2019). Design of a Passive Exoskeleton to Support Sit-to-Stand Movement: A 2D Model for the Dynamic Analysis of Motion. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_57
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DOI: https://doi.org/10.1007/978-3-030-01887-0_57
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