Robot assisted standing-up in persons with lower limb prostheses

Robot assisted standing-up manoeuver was tested in an intact person and a person after above-knee amputation. The subjects were asked to use as much leg activity as possible to lift their body while maintaining contact with the robot. The robot guided the subjects with three reference speeds. Kinematics and external forces acting on the body were recorded. The robot influence on the hip trajectory and the torques of the leg joints were studied. The subjects were able to track the robot movement. Thus, it is possible to use the robot to guide an impaired person along a desired trajectory during the standing-up process. In this way the impaired persons can be trained to accomplish an efficient sit-to-stand movement, while different trajectories of raising can be preprogrammed.