Abstract

A novel standing style transfer system, ABLE, has been developed to assist a person with disabled lower limbs during daily life. The ABLE-I and ABLE-II systems comprise three modules: a pair of telescopic crutches, a powered orthosis for the lower extremities, and a pair of mobile platforms. The crutches, which protect body stability in a standing posture, are useful when rising from a chair. All joints have actuators in this lower extremity orthosis. Together, these module components actively hold joints, bend joints, and extend joints. The platforms, which have crawlers to traverse uneven surfaces, facilitate turning on a rotation board mechanism. The third version, the ABLE-III, is designed to improve safety. The powered lower extremity orthosis is replaced with a two-link arm between legs of the person. No telescopic crutches are necessary because of the large mobile platform. Experimentally obtained results of basic operations related to movement while in a standing posture, sitting and standing with a chair, and descending and ascending a step confirm the design’s effectiveness.

Keywords: Aids for the disabled; Rehabilitation; Standing Posture; Wearable