Characterization of a Least Effort User-Centered Trajectory for Sit-to-Stand Assistance

Sit-to-stand transfer is a prerequisite for locomotion and induces a lot of effort from elderly or disabled people. In the context of a project based on a locomotion and sit-to-stand assistance robotics device, we present a methodology to tune the trajectory of active handles so that the verticalisation effort of the user is minimised. The methodology is user-centered in the sense that the robot will generate a specific trajectory for each particular user.

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