A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications
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arXiv
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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866911291861368832 |
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| author | Lalonde, Ian Denis, Jeff Lamy, Mathieu Martin, Camille Lebel, Karina Girard, Alexandre |
| author_facet | Lalonde, Ian Denis, Jeff Lamy, Mathieu Martin, Camille Lebel, Karina Girard, Alexandre |
| contents | The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are unable to adjust the STS training to different mobility levels. Therefore, We have developed an STS training device that allows various configurations of impedance and vertical/forward forces to adapt to many training needs while maintaining commercial raising aid transfer capabilities. Experiments with healthy adults (both men and women) of various heights and weights show that the device 1) has a low impact on the natural STS kinematics, 2) can provide precise weight unloading at the patient's center of mass and 3) can add a forward virtual spring to assist the transfer of the bodyweight to the feet for seat-off, at the start of the STS motion. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_22705 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications Lalonde, Ian Denis, Jeff Lamy, Mathieu Martin, Camille Lebel, Karina Girard, Alexandre Robotics Systems and Control The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are unable to adjust the STS training to different mobility levels. Therefore, We have developed an STS training device that allows various configurations of impedance and vertical/forward forces to adapt to many training needs while maintaining commercial raising aid transfer capabilities. Experiments with healthy adults (both men and women) of various heights and weights show that the device 1) has a low impact on the natural STS kinematics, 2) can provide precise weight unloading at the patient's center of mass and 3) can add a forward virtual spring to assist the transfer of the bodyweight to the feet for seat-off, at the start of the STS motion. |
| title | A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2511.22705 |