On the mechanical design and control of a self-adaptive exoskeleton chair

This paper presents a novel device that can be attached to a lower-limb exoskeleton to assist lower extremity hemiplegic patients during sitting down and standing up. Such device serves as a self-adaptive exoskeleton chair. The mechanical design has simple structure, great applicability, reliability and high driving efficiency. This paper first models and analysis the muscle forces during standing up and sitting down process utilizing OpenSim. Moreover, the simulation of motor energy consumption using the ADAMS software was also presented to verify the effectiveness of the proposed device.