Design of Mechanism for Assisting Standing Movement Using Planar Linkage and Gear Train

Abstract

The number of people who are in need of nursing care due to difficulties they experience with performing various activities of daily living is increasing. In particular, the action of standing up is performed frequently in daily life, and this action starts to induce pain in joints as people age. In this research, we develop a device whose seat plate follows the movement of the thigh in the action of standing up for the purpose of relieving the burden from the joints and reducing the effort associated with nursing care. The device is designed by using a planar five-link mechanism and a gear train, and only a single input is needed to drive the device. The respective lengths of the links are determined by comparing the movement of the seat plate of the device with the movement of the human thigh in the action of standing up. In addition, this device is expected to be useful for assisting users in standing up in a natural manner, including in the case when the body remains supported by the seat plate, as well as for guiding the individual movements of users in the action of standing up.

Keywords

• kinematic model of planar link mechanism
• planar five-bar linkage
• standing movement
• leg movement