Development of parallel manipulator sit to stand assistive device for elderly people

Omar Salah; Ahmed Asker; Ahmed M R Fath El-Bab; Samy M F Assal; Ahmed A. Ramadan; Salvatore Sessa; Ahmed Abo-Ismail

doi:10.1109/ARSO.2013.6705501

Development of parallel manipulator sit to stand assistive device for elderly people

Omar Salah, Ahmed Asker, Ahmed M R Fath El-Bab, Samy M F Assal, Ahmed A. Ramadan, Salvatore Sessa, Ahmed Abo-Ismail

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory.

Original language	English
Title of host publication	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Pages	27-32
Number of pages	6
DOIs	https://doi.org/10.1109/ARSO.2013.6705501
Publication status	Published - 2013
Event	2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013 - Tokyo Duration: 2013 Nov 7 → 2013 Nov 9

Other

Other	2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013
City	Tokyo
Period	13/11/7 → 13/11/9

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

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Development of parallel manipulator sit to stand assistive device for elderly people. / Salah, Omar; Asker, Ahmed; Fath El-Bab, Ahmed M R; Assal, Samy M F; Ramadan, Ahmed A.; Sessa, Salvatore; Abo-Ismail, Ahmed.

Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO. 2013. p. 27-32 6705501.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Salah, O, Asker, A, Fath El-Bab, AMR, Assal, SMF, Ramadan, AA, Sessa, S & Abo-Ismail, A 2013, Development of parallel manipulator sit to stand assistive device for elderly people. in Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO., 6705501, pp. 27-32, 2013 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2013, Tokyo, 13/11/7. https://doi.org/10.1109/ARSO.2013.6705501

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abstract = "This paper describes a novel mobility assistive device under development in the Egypt-Japan University of Science and Technology (E-JUST). The proposed system can help patients who do not have enough physical strength on the lower limbs during sit to stand due to aging, diseases such as polymyositis and myopathy, and joint replacement surgery complications. It can follow the natural pattern of human motion during sit to stand providing assistance force under the shoulder. The overall device is compact and employees a parallel mechanism which provide more stiffness. Several experiments were carried out in a VICON room to calculate the human motion posture while sit to stand motion in addition estimate the trajectory of the end effector during assisting. Computer simulation was built to verify the performance of the proposed system with the reference trajectory.",

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