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Combining Gait Trainers and Partial Weight Bearing Lifters: A Dynamic Analysis of Seat-to-Stand Transition

[+] Author Affiliations
Davide Piovesan, Michael Yagiela, Anne Schmitz

Gannon University, Erie, PA

Richard Johnson

Gannon University, Ruskin, FL

Paper No. DSCC2016-9731, pp. V001T07A001; 7 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


We analyzed a new class of passive devices that can help individuals regain their independence. A new walker design has been commercialized under the name of UP’N FREE®1. This new design can lift the user from a seated posture to a standing position through the employment of a four bar mechanism and gas piston. When the user is standing, the mechanism can provide partial compensation from gravity to help the user regain mobility. By using this system, users can sit and stand without another person’s assistance and can also compensate for gravity loads during walking both indoor and outdoor. This paper illustrates two examples of how to implement the dynamic lifting support and discusses the pros and cons of different system configuratons of a a gas spring cylinder as a passive actuator.

Copyright © 2016 by ASME



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