Steady standing assistance using active walker function

In our current research, we are developing a force assistance system for standing up motion. Our developing walker system realizes the standing up motion using the support pad with three degrees of freedom which is actuated by our proposed linkage mechanism. Furthermore, our walker system has a mobile function. In this paper, we develop the control scheme which realizes the natural standing up motion with safety and stability. For developing control scheme, we measure the typical standing up motion by the nursing specialist as control reference. In order to maintain the stability of the patients during this motion, it is required to move the zero moment point into the range of his foot. Therefore, we propose the novel control scheme for standing up motion using active walker function. The performance of our proposed control scheme is experimented by computer simulations.