Benyamine Allouche1*, Amal Saade1, Antoine Dequidt1, Laurent Vermeiren1, Olivier Remy-Neris2 |
1. LAMIH UMR CNRS 8201, Valenciennes University, Le Mont Houy, 59313 Valenciennes Cedex 9, France 2. Brest hospital, Department of Physical Medicine and Rehabilitation, 2 Avenue Foch 29200 Brest, France |
Abstract Every year more than 5 million people worldwide become hemiplegic as a direct consequence of stroke. This neurological deficiency, often leads to a partial or a total loss of standing up abilities and /or ambulation skills. In order to propose new supporting solutions lying between the wheelchair and the walker, this paper presents a technological strategy for designing an assistive device for a biomechanical study of the Sit-To-Stand movement (STS). The control algorithms are implemented in TwinCAT runtime environment. The communi-cation between the component and the control computer is ensured via the EtherCAT fieldbus. The aim of this architecture lies in the fact that it allows a quick development of a research prototype with the same safety issues found on an industrial machine. An experimental test of the STS strategy is presented and discussed in order to evaluate the strategy.
Keywords: sit-to-stand parallel manipulator EtherCAT fieldbus assistive device rehabilitation stroke
Full text is available at :https://link.springer.com/article/10.1007/s42235-018-0053-5