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- W4377082335 abstract "With the increasing number individuals living with the long-term effects of stroke, it has become more important to provide accessible healthcare, in line with the UN SDG 3 on promoting good health and well-being. Hemiplegia, the paralysis of one side of the body, is a common side effect of stroke. The condition of hemiplegia provides unique challenges for afflicted individuals, including asymmetric body strength and limited mobility, especially in the sit-to-stand (STS) motion. High weight-bearing asymmetry also leads to poor mobility outcomes and increased fall risk for hemiplegic patients. To address these concerns, a semi-wearable sit-to-stand assist robot is proposed to provide assistive force, motion guidance, and stability during the STS motion. The proposed robot is a planar 2-DoF assistive robot attached to the hip of the user that acts as an extra support leg during the STS motion. The designed robot is semi-wearable, and is worn when needed during the STS motion, but can easily be detached when not needed. The robot was designed to reduce the weight-bearing asymmetry of hemiplegic users during sit-to-stand, to allow them to complete the motion in a more symmetric and stable manner. The design requirements and concept are outlined, along with the control scheme for device operation. Human experiments demonstrated the ability of the assist robot to reduce average weight-bearing asymmetry during the STS motion." @default.
- W4377082335 created "2023-05-20" @default.
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- W4377082335 date "2023-01-01" @default.
- W4377082335 modified "2023-09-27" @default.
- W4377082335 title "Design and Prototyping of a Semi-wearable Robotic Leg for Sit-to-Stand Motion Assistance of Hemiplegic Patients" @default.
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- W4377082335 doi "https://doi.org/10.1007/978-3-031-32439-0_18" @default.
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