Active robotic assistance for standing and sitting: experimental evaluation of handle trajectories

The proposed support trajectories can be scaled to the person's anthropometry and readily implemented in robotic assistive devices, and were shown to substantially reduce leg loading, potentially improving life quality of individuals with difficulties in standing up. However, the large vertical handle forces and thus upper body demand during moving-handle assistance is a trade-off with relieving the lower limb load. This work provides a comprehensive foundation for the design of the necessary further experimental assessments with the target population.