2025 Volume 19 Issue 4 Pages JAMDSM0038
This study investigates the development of sit-to-stand (STS) assistive devices tailored for elderly individuals. Drawing on motion recommendations identified in prior research, we developed a modified straight-line mechanism-based STS assistance device. The design principles were as follows: (1) to enable the elderly to stand safely by adhering to the recommended motion patterns; (2) to minimize reliance on joint torque, thereby facilitating easier transitions to standing; and (3) to provide support during the most challenging phases of the motion, thus reducing peak torque demands on the knee joints. The proposed mechanism underwent evaluation through static calculations, which included assessments of the required driving torque and the resultant assistance force. Using a simplified human model, the device’s effectiveness was further analyzed in terms of joint torque reduction. Additionally, two enhancements were proposed to increase the device’s efficacy, and a scaled model was constructed to validate the design.
