Umikpali Exoskeleton: Saddle-assistive device for Sit-to-Stand transfer. Mechanical Design and Simulation

TLDR: In this article, the authors presented the mechanical design and simulation of a two-degree-of-freedom exoskeleton robot to assist the sit-to-stand (StoS) transfer of a person with reduced mobility due to spinal cord injury.

Abstract: This article presents the mechanical design and simulation of a two-degree-of-freedom exoskeleton robot to assist the Sit-to-Stand (StoS) transfer of a person with reduced mobility due to spinal cord injury (SCI).Also featured is the simulation of a Robust, Non-singular, Fast Terminal Sliding Mode Control (RNFTSMC) to control the StoS transfer.The exoskeleton will be mounted on a base with four wheels and two brushless DC motors, it has a rechargeable battery allowing the translation of the prototype for up to 8 hr of continuous use, moreover this base has a center with the ability to compensate for changes in the inclination of the surface, thus reducing the sensation of falling when making use of service ramps in the translation of the user.