Sit-to-Stand and Stand-to-Sit Transfer Support for Complete Paraplegic Patients with Robot Suit HAL

Physical support of lower limbs during sit-to-stand and stand-to-sit transfers is important for an independent life of paraplegic patients. The purpose of this study is, therefore, to realize the control method of complete paraplegic patients during sit-to-stand and stand-to-sit transfers by using a ‘robot suit HAL’. It is the most challenging issue because the HAL should start supporting the wearer’s motions synchronizing his/her intention. Our proposed algorithm infers the intention based on a preliminary motion that is observed just before a desired motion so the patient could start the sit-to-stand or stand-to-sit transfers without any operation. When the HAL detects the intention to stand up and sit down, the HAL starts to support the wearer’s weight and to control their body posture for stability during their transfer. The proposed algorithms embedded in the HAL were applied to a complete spinal cord injury patient in a clinical trial to confirm the effectiveness. The experimental results indicate that the proposed algorithms could support his sit-to-stand and stand-to-sit transfers safely and conveniently by keeping his stability and by reflecting his intentions. Consequently, we confirmed that the proposed method successfully supported the sit-to-stand and stand-to-sit transfers of the complete paraplegic patient with the HAL. © Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2010