Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics

Sit-to-stand is a common activity in daily life. It is difficult for the elderly and patients with lower limb disorders to complete this motion due to limb pain, muscle weakness, partial loss of motor control function, and physical defects in joints. An STS assistive device is a piece of automated m...

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Auteurs principaux:	Binwei Zhou, Qiang Xue, Shuo Yang, Huaiqiang Zhang, Tongtong Wang
Format:	article
Langue:	EN
Publié:	Taylor & Francis Group 2021
Sujets:	sit-to-stand motion kinematics dynamics mechanism design assistive device arduino controller Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
Accès en ligne:	https://doaj.org/article/5c88be2d44a84657a23ed62018ee972f
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spelling	oai:doaj.org-article:5c88be2d44a84657a23ed62018ee972f2021-11-04T15:00:41ZDesign and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics0005-11441848-338010.1080/00051144.2021.1967603https://doaj.org/article/5c88be2d44a84657a23ed62018ee972f2021-10-01T00:00:00Zhttp://dx.doi.org/10.1080/00051144.2021.1967603https://doaj.org/toc/0005-1144https://doaj.org/toc/1848-3380Sit-to-stand is a common activity in daily life. It is difficult for the elderly and patients with lower limb disorders to complete this motion due to limb pain, muscle weakness, partial loss of motor control function, and physical defects in joints. An STS assistive device is a piece of automated medical equipment that can facilitate rehabilitation training for patients with lower limb disorders and improve their lower limb function. In this paper, we introduce a 3-DOF series type STS assistive device. First, we selected 26 healthy adults to carry out an STS transfer experiment, and we obtained the trajectory and velocity of each joint and the law of plantar pressure during STS motion. Second, based on the above kinematics and dynamics law, a 3-DOF series mechanism was designed. Through forward and inverse kinematics analysis, the relationship between the end-effector and the linear actuator was established. The trajectory planning of the end-effector was carried out according to the natural STS transfer trajectory, and the law of the linear actuator was obtained. The trajectory planning was verified by ADAMS. Finally, the Arduino controller was used to build the control system of the STS assistive device, and the prototype experiment was carried out.Binwei ZhouQiang XueShuo YangHuaiqiang ZhangTongtong WangTaylor & Francis Grouparticlesit-to-stand motionkinematicsdynamicsmechanism designassistive devicearduino controllerControl engineering systems. Automatic machinery (General)TJ212-225AutomationT59.5ENAutomatika, Vol 62, Iss 3-4, Pp 353-364 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	sit-to-stand motion kinematics dynamics mechanism design assistive device arduino controller Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5
spellingShingle	sit-to-stand motion kinematics dynamics mechanism design assistive device arduino controller Control engineering systems. Automatic machinery (General) TJ212-225 Automation T59.5 Binwei Zhou Qiang Xue Shuo Yang Huaiqiang Zhang Tongtong Wang Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
description	Sit-to-stand is a common activity in daily life. It is difficult for the elderly and patients with lower limb disorders to complete this motion due to limb pain, muscle weakness, partial loss of motor control function, and physical defects in joints. An STS assistive device is a piece of automated medical equipment that can facilitate rehabilitation training for patients with lower limb disorders and improve their lower limb function. In this paper, we introduce a 3-DOF series type STS assistive device. First, we selected 26 healthy adults to carry out an STS transfer experiment, and we obtained the trajectory and velocity of each joint and the law of plantar pressure during STS motion. Second, based on the above kinematics and dynamics law, a 3-DOF series mechanism was designed. Through forward and inverse kinematics analysis, the relationship between the end-effector and the linear actuator was established. The trajectory planning of the end-effector was carried out according to the natural STS transfer trajectory, and the law of the linear actuator was obtained. The trajectory planning was verified by ADAMS. Finally, the Arduino controller was used to build the control system of the STS assistive device, and the prototype experiment was carried out.
format	article
author	Binwei Zhou Qiang Xue Shuo Yang Huaiqiang Zhang Tongtong Wang
author_facet	Binwei Zhou Qiang Xue Shuo Yang Huaiqiang Zhang Tongtong Wang
author_sort	Binwei Zhou
title	Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
title_short	Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
title_full	Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
title_fullStr	Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
title_full_unstemmed	Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
title_sort	design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
publisher	Taylor & Francis Group
publishDate	2021
url	https://doaj.org/article/5c88be2d44a84657a23ed62018ee972f
work_keys_str_mv	AT binweizhou designandcontrolofasittostandassistivedevicebasedonanalysisofkinematicsanddynamics AT qiangxue designandcontrolofasittostandassistivedevicebasedonanalysisofkinematicsanddynamics AT shuoyang designandcontrolofasittostandassistivedevicebasedonanalysisofkinematicsanddynamics AT huaiqiangzhang designandcontrolofasittostandassistivedevicebasedonanalysisofkinematicsanddynamics AT tongtongwang designandcontrolofasittostandassistivedevicebasedonanalysisofkinematicsanddynamics
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Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics

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