Dynamic Analysis of a Parallel Manipulator-Based Multi-function Mobility Assistive Device for Elderly

Asker, Ahmed; Assal, Samy F. M.; Mohamed, Abdelfatah M.

doi:10.1109/smc.2015.250

Cited by 12 publications

(7 citation statements)

References 16 publications

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“…One example of SISO includes the multi-functional locomotion aid of Asker et al [42]. This equipment was equipped with a plane parallel manipulator on an active walker, and not only STS but also movement and standing position maintenance were developed as support object operations.…”

Section: Systemmentioning

confidence: 99%

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Current Status and Consideration of Support/Care Robots for Stand-Up Motion

Nakamura

Saga

2021

Applied Sciences

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In order to make robots, which are expected to play an active role in the medical and nursing care fields in the future, more practical for use in rehabilitation, it is necessary to evaluate the current status of the design of these robots. Therefore, this paper aims to investigate the existing literature on standing motion assistance robots developed and reported to date and investigate each existing design technique from the perspectives of “Functions and Effects” and “Assist form and control.” Then, we search and investigate papers written in English on standing motion assistance robots reported from 2008 to 2019 and organize the contents of the relevant papers into their different assistance modes and four categories related to design. As a result, the standing motion assistance robots are classified into three assist modes: partial assistance, total assistance, and both. The assistance forms are roughly divided into two types: a wearable type and a non-wearable type. It is also demonstrated that both the assistance forms adopt the same trends in terms of the control strategy design and system I/O relationships. On the other hand, power equipment tends to be different between the two forms.

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Section: Systemmentioning

confidence: 99%

“…On the other hand, the non-wearable type is relatively large in scale and has many functions for movement assistance in addition to standing [41,42,66]. It is considered that it is assumed that it will be used in a limited environment and indoor situations, such as nursing care facilities.…”

Section: Assist Systemmentioning

confidence: 99%

Current Status and Consideration of Support/Care Robots for Stand-Up Motion

Nakamura

Saga

2021

Applied Sciences

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“…For more advanced systems, 2-DOFs are in general required to accomplish any requested trajectory in the sagittal plane, if the orientation of the trunk has to be taken into account and additional DOF is required (Rea and Ottaviano, 2016). Spatial systems like parallel manipulators or cabledriven systems (Asker et al, 2015;Castelli and Ottaviano, 2010) are starting to be considered to design systems in the case of post stroke, to take into account asymmetries in the sagittal plane due to the limited motion of affected part of the body (Lomaglio and Eng, 2005).…”

Section: Design Issues On the Support Transfer Mechanismmentioning

confidence: 99%

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

Rea¹,

Ottaviano²,

Castelli³

2017

American Journal of Engineering and Applied Sciences

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This paper presents a performance evaluation and results on the modelling and simulation of an assisting device to be used as aiding or guiding system for people with reduced mobility. There is a high level of motivation for elderly to perform independently basic Activities of Daily Life (ADL). Therefore, it is of great interest to design and implement reliable assisting devices that are able to help end-users mobility. Sit-To-Stand represent one of the most common ADL and a number of different devices have been proposed to reproduce a "normallike" movement. In general, a robot for a medical application should be able to interact with a patient in safe conditions, i.e., it must not damage people or surroundings; it must be designed to guarantee high accuracy and low accelerations during the operation. In addition, it should not be too bulky to interact closely with people. It can be advisable to have an easy-in-use and low-cost system, which can be used also in a domestic environment. In this study, a performance evaluation of a Sit-To-Stand assisting device is analyzed in terms of main characteristics, such as kinematic features and actuation requirements. Experimental tests were used to analyze a "normal-like" Sit-To-Stand movement and simulation results have been reported by considering a model of the human body interacting with the proposed assisting device.

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“…Chuy O et al [14] proposed a method of using a robot walking-support system to assist STS and adjusted the STS posture of the patient according to the torque of the knee joint. Ahmed Asker et al [15] designed an indoor multi-functional assistive device to help patients who suffer from decreased muscular strength in the lower limbs. Based on a non-conventional structure of a 3-RPR planer parallel manipulator, the assistive device could carry out motions such as STS, walking, transferring, and lifting.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2021

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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.

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Dynamic Analysis of a Parallel Manipulator-Based Multi-function Mobility Assistive Device for Elderly

Cited by 12 publications

References 16 publications

Current Status and Consideration of Support/Care Robots for Stand-Up Motion

Current Status and Consideration of Support/Care Robots for Stand-Up Motion

Performance Evaluation of an Assisting Device for Training "Normal-Like" Sit To Stand Movement

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

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