Standing-up robot: an assistive rehabilitative device for training and assessment.

In this paper a robotic assistive device is presented, aimed at assisting physically impaired individuals when rising from a sitting to a standing position. The robotic device is designed as a three degrees of freedom (3-DOF) mechanism supporting the subject under the buttocks. The device is driven by an electrohydraulic servosystem capable of operating in multiple control modes. It is instrumented with a sensory system providing information about the standing-up parameters. Evaluation of the standing up assistive device was accomplished in robot-supported rising trials of a paraplegic subject. The experiments demonstrated that stable risings in different standing - up manoeuvres were achieved. The measurement results revealed the role of the arm support and the support of the artificially evoked moments in the paralysed lower extremities during rising. The results show that the device can be used efficiently for training and evaluation of standing up manoeuvres.