Design and control of a sit-to-stand assistive device based on analysis of kinematics and dynamics
| Autor: | Qiang Xue, Tongtong Wang, Binwei Zhou, Huaiqiang Zhang, Shuo Yang |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
medicine.medical_specialty
General Computer Science Computer science Kinematics Sit-to-stand motion kinematics dynamics mechanism design assistive device Arduino controller Lower limb Motion (physics) sit-to-stand motion Automation Physical medicine and rehabilitation Partial loss arduino controller medicine Assistive device Control engineering systems. Automatic machinery (General) Sit to stand Dynamics (mechanics) Muscle weakness body regions T59.5 Control and Systems Engineering TJ212-225 medicine.symptom |
| Zdroj: | Automatika : časopis za automatiku, mjerenje, elektroniku, računarstvo i komunikacije Volume 62 Issue 3-4 Automatika, Vol 62, Iss 3-4, Pp 353-364 (2021) |
| ISSN: | 1848-3380 0005-1144 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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