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Design and Fabrication of Amotorized Walker with Sit-to-Stand Ability

Kousha, Ebrahim | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 55959 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Durali, Mohammad; Ahmadi Bani, Monireh
  7. Abstract:
  8. The purpose of this project is to design and build a motorized walker with sit to stand ability, by means of which the user can get up from a chair or the edge of the bed and stand with complete independence; Relying on it, the patient could walk easily and finally sit down on the chair, the edge of the bed, or the toilet seat. For this purpose, the conducted researches and previously built devices were studied and the strengths and weaknesses of each were examined. The stages of conceptual design including the design of the sit to stand mechanism, the design of the structure and finally the control algorithm were completed, then the detailed design of the mentioned topics was carried out. After completing the design stages and ensuring the acceptability of the design, the walker was manufactured. and finally, the functional characteristics of the walker were investigated and compared by muscle activity tests, force plate and motion capture in the form of three activities "getting up without assistance", "getting up with help" and "getting up unaided in the presence of the user tracking sensor with a rest in the middle of the task" by three healthy users. The investigated parameters include muscle activity, joint angles and feet reaction force at the forceplate, which in the task of getting up with assistance, the effective value (RMS) of muscle activity in all users experienced a decrease of up to 74.95%. Also, the RMS error of the user's joint angles reached a maximum of 11 degrees in the hip joint, which can conclude that the device produces the sit to stand motion with a slight deviation from the normal sit to stand pattern. In addition, in the third task during the rest period, the hip angle change was insignificant (less than 5 degrees), which indicates the acceptable rigidity of the walker structure. Finally, the force data of the forceplate in the user's rest period in the third task shows the removal of weight pressure from the users’ legs and making it possible for them to rest.
  9. Keywords:
  10. Motion Capture ; Amotorized Walker ; Sit to Stand Ability ; Immobility ; Muscle Activity ; Movement Disorder ; Lower Extremity Joint Angle ; Root Mean Squared Error

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