Technical Brief

Soft Actuating Sit-to-Stand Trainer Seat

[+] Author and Article Information
A. Fraiszudeen

Department of Biomedical Engineering,
4 Engineering Drive 3,
Engineering Block 4(E4) #04-08,
Singapore 117583
e-mail: bieaf@nus.edu.sg

C. H. Yeow

Department of Biomedical Engineering,
4 Engineering Drive 3,
Engineering Block 4(E4) #04-08,
Singapore 117583
e-mail: rayeow@nus.edu.sg

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received March 30, 2017; final manuscript received September 28, 2018; published online November 13, 2018. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 11(1), 014501 (Nov 13, 2018) (5 pages) Paper No: JMR-17-1081; doi: 10.1115/1.4041630 History: Received March 30, 2017; Revised September 28, 2018

In this paper, we propose a novel type of soft robot for sit to stand (STS) training, which is made with soft bellow actuators. Analysis with five healthy human subjects revealed that there is a statistically significant decrease in the peak and mean muscle activation signal from three out of the four groups of lower limb muscle for STS transition, namely, tibialis anterior, hamstrings, and quadriceps. The peak muscle activation decreased most drastically on the quadriceps muscle group (0.726 ± 0.467 to 0.269 ± 0.334). As reduced muscle activation signal correlates to less muscular effort required by the users, the results show the effectiveness of the device in partially supporting the STS transition of the subject, which subsequently serves as an STS trainer device.

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Grahic Jump Location
Fig. 1

((a)–(d)) The soft actuating STS trainer seat: (a) two soft bellow actuators when fully deflated, (b) fully inflated, (c) the complete device when fully deflated, and (d) fully inflated

Grahic Jump Location
Fig. 2

Schematic diagrammed of the control system of the soft actuating STS trainer

Grahic Jump Location
Fig. 3

Operational work flow of the soft actuating STS trainer seat. User sits on the device. Upon activating the inflation button of the device, user is elevated to semistanding position at 45 deg. The user then stands upright on their own effort. To sit down, the user sits on the device fully inflated 45 deg at semistanding position. Upon activating the deflation button, the user is steadily declined to sitting down position at 0 deg.

Grahic Jump Location
Fig. 4

Peak and mean muscle activation of 4 lower limb muscle group: (a) quadriceps*, (b) gastrocnemius, (c) tibialis anterior*, and (d) hamstrings* (P < 0.05)

Grahic Jump Location
Fig. 5

Electromyography muscle activation profile of four lower limb muscle group: (a) quadriceps, (b) tibialis anterior, (c) hamstrings, and (d) gastrocnemius (P < 0.05)



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