Speed Optimization of a standing-up assistance device based on elderly motions

抄録

The optimal control of standing up assistance device was discussed using musculoskeletal model with the elderly physical dimensions in average. The continuous process of human sit to stand movement was analyzed using a slicing method to simplify the process. Based on the discrete time series, the speed arrangement of a specified sit-to-stand movement was optimized with sequential quadratic programming. Based on the optimization results, output force or speed of the device can be scheduled, and assistance efficiency may be enhanced. In this paper, the torque of knee was emphasized in optimization. In future different criteria will be considered and an appropriate criterion for the optimization will be utilized to specialize for elders.