可自适应调节的助站机器人，支持康复与转移训练
A Two Degrees-of-Freedom Floor-Based Robot for Transfer and Rehabilitation Applications
- 通过可调阻抗和前后力实现多模式助站
- 自然站起动作受扰小，能精准卸载重心重量
- 适合不同移动能力患者，兼具康复与转移功能
能够完成坐-站（STS）动作对提升功能性活动能力、降低再入院风险至关重要。尽管现有助站设备和部分减重支持装置存在，但均无法根据不同的移动能力调整训练强度。为此，我们开发了一种可配置阻抗及垂直/前向力的坐-站训练装置，在保持商用助站转移功能的同时，适配多种训练需求。健康成年志愿者（男女均有，身高体重各异）实验表明：1）对自然坐-站运动学影响小；2）可精准在患者质心处实现体重卸载；3）可在坐起起始阶段施加前向虚拟弹簧，辅助身体重心前移至足部，完成离座。
原文摘要 · Abstract (English)
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.
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