Development of Sit-to-Stand Support System Using Ground Reaction Force

Sit-to-Stand movement is difficult for elder or patient with enfeebled lower limb function, however, it is necessary to their daily activity. There are assist chair us-ing gas cylinder1, stand assist toilet2 seat and so on, as sit-to-stand helping device in Japan. Support power of these device is constant and they needs user operation using switch or button.

Our sit-to-stand support device is controlled by user’s ground reaction force. The computer installed in our system estimate whether user will sit or stand using information of ground reaction force, and our device is able to assist according to user’s limb power. Although the user have to put power into their limb to sit-to-stand, it is expected that this device play a role of rehabilitation device.