Abstract
A standing-style transfer system that enables a person with lower limb disability to perform activities of daily living without the need of special infrastructure has been developed. This system comprises three modules: a powered lower extremity orthosis, a pair of telescopic crutches, and a pair of mobile platforms. This paper proposes a novel transfer system, ABLE II, that was improved for better operability and stability when traveling. The electric shoulder-type telescopic crutch was replaced with a manual elbow-type crutch, which is lightweight. An ultrasonic motor, instead of the previously used DC motor, was used for steering the mobile platform. The ultrasonic motor enables the reduction of backlash when steering the new platform. A supporting plate and an active ankle joint attached to each mobile platform provide stability when traveling in the standing position. Experimental results have verified the effectiveness of the new system.
