Abstract
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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Chuy, O., Hirata, Y., Wang, Z., Kosuge, K.: Approach in assisting a sit-to-stand movement using robotic walking support system. In: International conference on intelligent robots and systems, Beijing, China, pp. 4343–4348 (2006)
Lacey, G., Dawson-Howe, K.M.: The Application of Robotics to a Mobility Aid for the Elderly Blind. In: Robotics and Auton. Systems, vol. 23, pp. 245–252 (1998)
Alwan, M., Rajendran, P.J., Ledoux, A., Huang, C., Wasson, G., Sheth, P.: Stability Margin Monitoring in Steering-Controlled Intelligent Walkers for the Elderly. In: AAAI Fall 2005 Symposium (EMBC). AAAI Press, Menlo Park (2005)
Graf, B., Hans, M., Rolf, D.S.: Care-O-Bot II- Development of a next generation robotic home assistant. In: Autonomous Robots, vol. 16, pp. 193–205 (2004)
Dubowsky, S., Genot, F., Godding, S., Kozono, H., Skwersky, A., Yu, H., Yu, L.S.: PAMM- A robotic aid to the elderly for mobility assistance and monitoring: a ”‘helping-hand’” for the elderly. In: IEEE International Conference on Robotics and Automation, pp. 570–576 (2000)
Wolfe, R.R., Jordan, D., Wolfe, M.L.: The WalkAbout: A new solution for preventing falls in the elderly and disabled. Arch. Phys. Med. Rehabil. 85(12), 2067–2069 (2004)
Lee, C.Y., Seo, K.H., Kim, C.H., Oh, S.K., Lee. J.J.: A system for gait rehabilitation: mobile manipulator approach. In: Proc.of IEEE of Int. Conf. on Robotics and Automation, pp. 3254–3259 (2002)
Nemoto, Y., Egawa, S., Fujie, M.: Power Assist Control Developed for Walking Support. Journal of Robotics and Mechatronics 11(6), 473–476 (1999)
Kuzelicki, J., Zefran, M., Burger, H., Bajdand, T.: Synthesis of standing-up trajectories using dynamic optimization, gait and posture (2005)
Wisneski, K., Johnson, M.: Quantifying kinematics of purposeful movements to real, imagined, or absent functional objects: Implications for modelling trajectories for robot-assisted ADL tasks. Journal of NeuroEngineering and Rehabilitation 4(7) (2007)
Médéric, P., Lozada, J., Pasqui, V., Plumet, F., Bidaud, P., Guinot, J.C.: An optimized design for an intelligent walking aid. In: CLAWAR 2003, Catania, Italy, pp. 53–60 (2003)
Médéric, P.: Conception et commande d’un système robotique d’assistance à la verticalisation et à la déambulation. PhD thesis, Université Paris (December 6, 2006)
Médéric, P., Pasqui, V., Plumet, F., Bidaud, P.: Design of a walking-aid and sit to stand transfer assisting device for Elderly people. In: 15th CISM-IFToMM Symposium on robotic design, Dynamic and control, St Hubert, Canada (2004)
Médéric, P., Pasqui, V., Plumet, F., Bidaud, P.: Elderly people sit-to-stand transfert experimental analysis. In: 8th Conference on climbing and walking robots, CLAWAR, Madrid, Spain (2005)
Flash, T., Hogan, N.: The coordination of arm movements: an experimentally confirmed mathematical model. The journal of Neuroscience 5(7), 1688–1703 (1985)
Saint-Bauzel, L., Monteil, I., Pasqui, V.: A reactive robotized interface for lower limb Rehabilitation: Clinical results. In: IEEE Int. Conference on Robotics and Automation, pp. 283–295 (2007)
Pasqui, V., Bidaud, P.: Bio-mimetic trajectory generation for guided arm movement during assisted sit-to-stand transfer. In: 9th International Symposium on Climbing and walking Robots and Associated Technologies, September 11–14, Royal Military Academy, Brussels (2006)
Khalil, W., Dombre, E.: Modélisation identification et commande des robots. In: Khalil, W., Dombre, E. (eds.) Commande en effort, 2nd edn., Janvier, pp. 397–415 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer Dordrecht Heidelberg London New York
About this paper
Cite this paper
Pasqui, V., Saint-Bauzel, L., Sigaud, O. (2011). Characterization of a Least Effort User-Centered Trajectory for Sit-to-Stand Assistance. In: Stépán, G., Kovács, L.L., Tóth, A. (eds) IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments. IUTAM Bookseries, vol 30. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1643-8_22
Download citation
DOI: https://doi.org/10.1007/978-94-007-1643-8_22
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-1642-1
Online ISBN: 978-94-007-1643-8
eBook Packages: EngineeringEngineering (R0)