Mechanical Design and Simulation of a Saddle-Assistive Device for Sit-to-Stand Transfer in Healthy Subjects

Document Type: Original Article

Authors

1 Department of Mechanical Engineering, University of kashan, Iran

2 Department of Mechanical Engineering, Sharif University of Technology, Iran

Abstract

Assistive device equipment can improve the performance of sit-to-stand (STS), standing, and walking of people with lower limb disability. The motorized assistive device is usually expensive and the use of another assistive device also makes an excessive force in the upper and lower extremity during (STS) transfer, which is not desirable for patients. In addition, only a few number of the non-motorized assistive devices that support all three phases; namely, sit-to-stand, standing, and walking are available. Consequently, improving and creating the new technology seems essential in this case. In this paper, the design procedure of saddle-assistive device is described in order to make use of the linear actuator in (STS) transfer and walk. Experimental results orientation of the shoulder during (STS) was recorded in the lab. Then, based on this analysis and simulation, saddle-assistive devices(S-AD) were designed and prototyped. Function prototype of the (S-AD) was done in the lab on a healthy person in (STS) and walking and then was compared with (STS) in normal mode. It is proposed due to the integration of the three phases in one device. Other advantages are force reduction on lower limbs, creating conditions of stability, and independence for patients with lower limb disability.

Keywords


[1]     Alexander, N. B., Schultz, A. B., and Warwick, D. N., “Rising from a Chair: Effects of Age and Functional Ability on Performance Biomechanicsˮ. Journal of Gerontology, Vol. 46, No. 3, 1991, pp. M91-M98.

[2]     Hughes, M., Schenkman, M., “Chair Rise Strategy in the Functionally Impaired Elderlyˮ, Journal of rehabilitation research and development, Vol. 33, No. 4, 1996. pp. 409-412.

[3]     Vose, J. G., et al., “Optimization of Lower Extremity Kinetics during Transfers Using a Wearableˮ, Portable Robotic Lower Extremity Orthosis: A Case Study, in Converging Clinical and Engineering Research on Neurorehabilitation. 2013, Springer, pp. 99-102.

[4]     Organization, W. H., “The World Health Report: 2001: Mental Health: New Understandingˮ, new hope. 2001.

[5]     Hirvensalo, M., Rantanen, T., and Heikkinen, E., “Mobility Difficulties and Physical Activity as Predictors of Mortality and Loss of Independency in Community Living Older Populationˮ, Journal of the American Geriatrics Society, Vol. 48, 2000, pp. 493-498.

[6]     Ivlev, O., “Soft Fluidic Actuators of Rotary Type for Safe Physical Human-Machine Interactionˮ, in Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on. 2009. IEEE.

[7]     Kong, K., Jeon. D., “Fuzzy Control of a New Tendon-Driven Exoskeletal Power Assistive Device. in Proceedings of the IEEE/ASMEˮ, International Conference on Advanced Intelligent Mechatronics (AIM 2005), 2005.

[8]     Cheng, Y. Y., et al., Can Sit-To-Stand Lower Limb Muscle Power Predict Fall Status? Gait & posture, Vol. 40, No. 3, 2014, pp. 403-407.

[9]     Viteckova, S., Kutilek, P., and Jirina, M., “Wearable Lower Limb Robotics: A Reviewˮ, Biocybernetics and Biomedical Engineering, Vol. 33, No. 2, 2013, pp. 96-105.

[10]  Nagai, K., Nakanishi, I., and Hanafusa, H., “Assistance of Self-transfer of Patients Using a Power-Assisting Device. in Robotics and Automationˮ, 2003. Proceedings. ICRA'03. IEEE International Conference on. 2003. IEEE.

[11]  Mefoued, S., et al., “Sit-to-Stand Movement Assistance Using an Actuated Knee Joint Orthosisˮ, in Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on, 2012. IEEE.

[12]  Yan, T., et al., “Review of Assistive Strategies in Powered Lower-Limb Orthoses and Exoskeletonsˮ, Robotics and Autonomous Systems, Vol. 64, 2015, pp. 120-136.

[13]  Kawamoto, H., et al., “Power Assist Method for HAL-3 Using EMG-Based Feedback Controllerˮ, in Systems, Man and Cybernetics, 2003. IEEE International Conference on, 2003. IEEE.

[14]  Salah, O., et al., “Development of Parallel Manipulator Sit to Stand Assistive Device for Elderly Peopleˮ, in 2013 IEEE Workshop on Advanced Robotics and its Social Impacts, 2013. IEEE.

[15]  Chang, S. R., et al., “Improving Stand-to-Sit Maneuver for Individuals with Spinal Cord Injuryˮ, Journal of neuroengineering and rehabilitation, Vol. 13, No. 1, 2016, pp. 1.

[16]  Salah, O., et al., “Anfis-Based Sensor Fusion System of Sit-to-Stand for Elderly People Assistive Device Protocolsˮ, International Journal of Automation and Computing, Vol. 10, No. 5, 2013, pp. 405-413.

[17]  Jun, H. G., et al., “Walking and Sit-to-Stand Support System for Elderly and Disabled. in Rehabilitation Robotics (ICORR)ˮ, 2011 IEEE International Conference on, 2011. IEEE.

[18]  Rea, P., Ottaviano, E., and Castelli, G., “A Procedure for the Design of Novel Assisting Devices for the Sit-to-Standˮ, Journal of Bionic Engineering, Vol. 10, No. 4, 2013, pp. 488-496.

[19]  Médéric, P., et al., “Design of a Walking-Aid and Sit to Stand Transfer Assisting Device for Elderly People. in 7th Intˮ, Conference on Climbing on Walking Robots (CLAWAR’04), Madrid, Spain. 2004.

[20]  Rea, P., Ottaviano, E., “Analysis and Mechanical Design Solutions for Sit-To-Stand Assisting Devicesˮ, 2016.

[21]  Nuzik, S., et al., “Sit-to-Stand Movement Pattern: A Kinematic Studyˮ, Physical therapy, Vol. 66, No. 11, 1986, pp. 1708-1713.

[22]  Schenkman, M., et al., “Whole-Body Movements During Rising to Standing from Sittingˮ, Physical Therapy, Vol. 70, No. 10, 1990, pp. 638-648.

[23]  Takai, A., et al., “Estimation and Minimization of Nody Load During Sit-to-Stand Movement for Rehabilitationˮ, Journal of System Design and Dynamics, Vol. 7, No. 4, 2013, pp. 488-503.

[24]  Matsuura, D., et al., “Efficiency Improvement of Walking Assist Machine Using Crutches Based on Gait-Feasible Region Analysisˮ, Mechanism and Machine Theory, Vol. 84, 2015, pp. 126-133.

[25]  Tully, E. A., Fotoohabadi, M. R., and Galea, M. P., “Sagittal Spine and Lower Limb Movement During Sit-to-Stand in Healthy Young Subjectsˮ, Gait & posture, Vol. 22, No. 4, 2005, pp. 338-345.