Characterization of a Least Effort User-Centered Trajectory for Sit-to-Stand Assistance

  • Viviane Pasqui
  • Ludovic Saint-Bauzel
  • Olivier Sigaud
Part of the IUTAM Bookseries book series (IUTAMBOOK, volume 30)


Sit-to-stand transfer is a prerequisite for locomotion and induces a lot of effort from elderly or disabled people. In the context of a project based on a locomotion and sit-to-stand assistance robotics device, we present a methodology to tune the trajectory of active handles so that the verticalisation effort of the user is minimised. The methodology is user-centered in the sense that the robot will generate a specific trajectory for each particular user.


Disable People Trajectory Generation Robotic Device Transfer Trajectory Anticipatory Postural Adjustement 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Dordrecht Heidelberg London New York 2011

Authors and Affiliations

  • Viviane Pasqui
    • 1
  • Ludovic Saint-Bauzel
    • 1
  • Olivier Sigaud
    • 1
  1. 1.Institut des Systèmes Intelligents et de Robotique - CNRS UMR 7222Université Pierre et Marie Curie, Pyramide Tour 55Paris CEDEX 5France

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