The study on moving way of seating face on the standing assistance device to reduce joint load considering ZMP

Abstract

In this paper, assistance method when using a standing assistance device is investigated. This device is intended for elderly people who have difficulty standing up, and the chair seat is designed to trace a trajectory that reduces joint moment. Since the standing up motion differs from person to person, it is necessary to assist each person at an optimal speed. However, it is difficult to estimate the optimal speed by having elderly people try standing up motion multiple times. Therefore, we proposed a new simulation method of standing up motion. We also investigated the effectiveness of simulation model by comparing it with the former studied model and actual standing up experiments.