Abstract
This paper describes a system which holds a human body safely and realizes supporting for standing-up motion. It consists of a holding unit connecting human body and walking device, and supporting unit which can aid in supporting human posture while standing. The supporting unit has a weight-compensation mechanism which contains spring, wire, and pulley, so that it can compensate load at any angle. The weight-compensation mechanism also has another pneumatic actuator which can modulate spring rate to respond to the change of compensation weight. The compensation weight can be estimated by a flexi force sensor and appropriate spring constant can also be decided. With the weight compensation mechanism in active state, the system can prevent the patient from losing their standing balance.
