A study of driving trajectory for standing-up motion support system

In this study, we focus on the standing-up motion assist for elderly people, and we are developing a standing-up motion support system, because the support of stand-up motion is the most physically burdened task for caregivers. The system is designed to be used easily and can carry out minimum necessary support for elderly people by moving the handle. The support system consists of two electric sliders and a handle with 6-axis force torque sensor. In this paper, we aim to get a suitable trajectory of the handle which is comfortable and effective for the system users to support standing-up motion. Then, we proposed three kinds of trajectories and evaluated them through experiments. From the evaluation results, we found that a circular arc trajectory from start to end point with constant speed is the most suitable trajectory for the standing-up support system for the elderly.