RESUMEN
Objective:To design a toilet assistant device according with an ergonomics based on the natural sit-to-stand transition motion trajectory, to improve the safety and comfort for the older adults. Methods:The sit-to-stand transition motion trajectory was obtained at different speeds using Inertial Measurement Unit from twelve healthy subjects. The finite element contrastive pressures on toilet seat at 0°, 10°, 20°, 30°, 40° sitting inclination angles were compared from this trajectory to the other research trajectory, as well as the balance analysis after standing. A total of 20 healthy subjects experienced the toilet assistant device and reported their satisfaction. Results:At four angles of inclination, the average pressure of this trajectory was less than that of the other research; while the vertical projection of center of mass was within the range of center of pressure, satisfying the balance condition. Most of the subjects were satisfactory to the toilet assistant device. Conclusion:A new sit-to-stand transition motion trajectory has been obtained. A toilet assistant device based on the motion trajectory has been designed, which is comfortable and steady.
RESUMEN
Objective To study the influence of different trajectories of 3-PH/R ankle rehabilitation robot on joints and muscles. Methods The 3-PH/R ankle rehabilitation robot was simplified and imported into biomechanical modeling software by analyzing the kinematics principles. Using the actual motion trajectory of ankle rehabilitation robot as model driving, the joint and muscle forces were compared under three different trajectories, namely, dorsiflexion/plantarflexion, inversion/eversion and nutation. The correlation analysis on three motion trajectories was conducted. Results Nutation could satisfy the function of both plantar dorsiflexion/plantarflexion, and inversion/eversion, and made the ankle muscles fully exercised. The maximum difference in joint force under three different rehabilitation trajectories was 0.3 N. Different muscles had different sensitivity to trajectories. Conclusions The continuous dynamic analysis of muscle force and joint force under three kinds of rehabilitation trajectories was implemented. The results have certain theoretical significance and clinical reference value for the clinical application of ankle rehabilitation robot and the formulation of rehabilitation trajectory.