Research on the Lower Limb Joint Moment Prediction in Sit-To-Stand Motion: Simulation and Experiment

Sung Min Kim, Ho Chul Kang, and Min Ji Seo


Chair, STS, Moment, Inverse Dynamic Simulation


The Purpose of this study is to examine the load characteristics of joints during the STS (Sit-To-Stand) to design the walk assistance robots more practically. Subjects participated in the research were healthy males without nervous or muscloskeletal disorders, and their motion analysis data were observed during actual STS using motion analyzer. The motion analysis results were indirectly verified by comparing with those of the existing research. During STS, hip and knee joint moments which are normalized from each weight were observed to be smaller than 0.2Nm/kg in the early stage. Joint moments of the two joints continually increased in the following forward acceleration stage, and a maximum of 0.88NM/kg for hip joint were observed and 0.44Nm/kg for knee joint in the STS stage. Also, the verified motion analysis results were compared with regularized absolute value or pattern to develop the muscloskeletal simulation model. As a result, it was observed that the developed model predicted the motion of lower joint and joint moment taking place during STS.

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