A study on the path of an upper-body support arm used for assisting standing-up and sitting-down motion

M. Tomita, T. Ogiso, Y. Nemoto, M. G. Fujie

Research output: Contribution to journalArticle

10 Citations (Scopus)

Abstract

We are developing basic technology for a walking-support system. As part of this technology, we have determined the best support-arm path for assisted standing-up and sitting-down motion of an elderly person who can sit but cannot stand up. We developed a program for analyzing the load acting on lower-limb joints during the motion. Experimentally measured joint positions and floor-reaction force enabled us to calculate joint torque during motion along several paths by using the Newton-Euler formulation. And we evaluated the supporting performance of the paths of a machine arm. These calculations indicate that a linear interpolating path minimizes the necessary joint torque for assisting standing-up or sitting-down motion. A sensory evaluation test showed that users tend to feel comfortable when the path shape is similar to that of unassisted motion and when hip trajectory is smooth.

Original languageEnglish
Pages (from-to)949-956
Number of pages8
JournalJSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume43
Issue number4
Publication statusPublished - 2000 Dec
Externally publishedYes

Keywords

  • Comfortability in riding computer-aided analysis
  • Human engineering
  • Machinery
  • Measurement
  • Motion control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

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