関節負荷の低減を可能にする起立支援装置の基礎的検討

抄録

Sit-to-stand motion (STS) is said to be the most fundamental and burdensome activity of daily living. Elderly persons decrease lower-limb muscle strength as aging and become difficult to stand up alone. For that reason, rehabilitation to improve the remaining capacity is more and more important in aging society. The existing research of STS has been conducted on technological development such as controlling the posture and automatically recognizing the intention. However, the spontaneous contraction of the muscles and individual differences of STS have not been discussed so. In author's preceding study (authors), we aim to assist STS by focusing on trajectory. However, the interaction of force on hip and current standing assistance device is not examined. In this study, we measure the STS of the subject and derive the trajectory with reduced hip load. As a result, it was found that the maximum moment on the optimized trajectory is smaller than that on original trajectory by focusing on the moment of hip. And we developed a standing assistance device that reproduces the trajectory.