A Resistance-Free Sit-To-Stand Rehabilitative System Incorporated with Multi-Sensory Feedback.

Robotic rehabilitative systems have been an active area of research for all movements, including Sit to Stand (STS). STS is an important movement for performing various activities of daily living. Rehabilitation of the STS movement is one of the most challenging tasks for patients and physiotherapists alike. The existing rehabilitative systems constrain the patient to move with the system, making it difficult for the patient to eventually perform the movement independently without facing resistance from the system. This paper proposes the design of an STS rehabilitation system that assists subjects only in the parts of the motion that they fail to perform independently. The assistance is provided in a two-phase process and allows subject to attempt different levels of difficulty dynamically without having to select a target difficulty level before the start of the therapy session. The individual under test also receives real-time feedback on the movement from a multi-sensory feedback system. Post the movement, a score is generated from the system, allowing both the subject and physiotherapist to track the long-term progress of the individual under treatment.