Journal of Bionic Engineering

, Volume 15, Issue 4, pp 647–660 | Cite as

Design and Control of an Assistive Device for the Study of the Post-stroke Sit-To-Stand Movement

  • Benyamine AlloucheEmail author
  • Amal Saade
  • Antoine Dequidt
  • Laurent Vermeiren
  • Olivier Remy-Neris


Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and /or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement (STS). The control algorithms are implemented in TwinCAT runtime environment. The communication between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.


sit-to-stand parallel manipulator EtherCAT fieldbus assistive device rehabilitation stroke 


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This research was supported by International Campus on Safety and Intermodality in Transportation, the Hauts-de-France Region, the European Community, the Regional Delegation for Research and Technology, the Ministry of Higher Education and Research, the French National Research Agency, the National Center for Scientific Research and the Arts Carnot Institute. The authors gratefully acknowledge the support of these institutions, in addition to all partners of the VHIPOD project (Self-balancing transport vehicle for handicapped person in standing position with support for verticalization, ref: ANR-12-TECS-0001): Laboratory of Medical information Processing (LaTIM-INSERM UMR 1101), National Centre of Resources and Innovation with a mission to promote mobility for all persons at any age (CEREMH), Kerpape Mutualistic Functional Reeducation and Rehabilitation Center (CMRRF of Kerpape) and BA systèmes corporation.


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Copyright information

© Jilin University 2018

Authors and Affiliations

  • Benyamine Allouche
    • 1
    Email author
  • Amal Saade
    • 1
  • Antoine Dequidt
    • 1
  • Laurent Vermeiren
    • 1
  • Olivier Remy-Neris
    • 2
  1. 1.LAMIH UMR CNRS 8201Valenciennes University, Le Mont HouyValenciennes Cedex 9France
  2. 2.Brest hospital, Department of Physical Medicine and RehabilitationBrestFrance

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