抄録
A new apparatus to assist an elderly person to stand up, as well as leaning forward the upper body, has been developed. The mechanism of the apparatus enables to shift the person's center of gravity along an adequate trajectory during standing up process, so as not to cause strain for each joint of the elderly's leg. The apparatus also assists a person to alter from standing or sitting posture to lying posture. Although the mechanism has multiple links and joints, only one actuator is required to transform the apparatus between aforementioned three postures. The length of each link of the mechanism has been determined from their effect on the backrest angle when each link length is changed. Each torque of hip and knee joint of the person while standing up was calculated, and effectiveness of the apparatus has been confirmed.
