Development of assistive device for standing-up motion and its applications to rehabilitation technology

站立是一项重要的日常活动。从坐姿站起来的能力对于独立生活是必不可少的。本研究开发了一种站立运动辅助装置作为实验系统。对于康复或训练，使用者可以通过使用开发的设备了解自己的站立能力。本文还提出了一种基于内模控制方法的力检测控制器方案。该方法被应用于人体产生的力的检测。该研究特别强调，从理论和实验结果来看，所提出的方法的干扰估计特性可用于在没有额外传感器的情况下检测力，例如力传感器，压力传感器或肌电图（EMC）。该结果是康复技术的又一步，有助于与人类互动的设备的发展。

Standing up is an important for common daily activity. The ability to stand from the seated position is essential for independent living. In this research, an assistive device for standing-up motion is developed as an experimental system. For rehabilitation or training users are able to know own ability for standing by using the developed equipment. This paper also shows a controller scheme for force detection based on the internal model control method. The proposed method is applied for detecting force generated by humans.The proposed research specifically emphasized that from theoretical and experimental findings the disturbance estimation property of the proposed method is useful for detecting force without additional sensors, e. g. force sensors, pressure sensors, or electromyography (EMC). The results are a further step in rehabilitation technology to contribute towards the development of equipment interacting with humans.