Perpustakaan Digital ITB

Sit-to-stand (STS) motion is a crucial part in activity of daily living (ADL). The motion transitioning from sitting to standing becomes a challenge due to several factors such as aging. urgency to address the physical decline accompanying aging, especially in lower limb strength due to their involvement in activities is needed. While STS lacks standardized evaluation methods, simplified models aid in analyzing limb segments and joint forces. Existing assistive devices, such as exoskeletons and push-chair assist devices, have limitations in terms of cost, personalization, and adaptability. This research not only comprehensively evaluates STS motion for quantifying joint torques in lower limbs but also proposes an innovative, adaptable assistive mechanism to provide elderly individuals’ needs, aiming to enhance their independence and overall quality of life. From this research, the lower limb joint such as ankle, knee, and hip torque are obtained to determine force required for assistance needed such as full or partial assistance. Mathematical model is provided through data gathering from experiment by using motion capture, force platform, and anthropometry measurement. The mathematical model is calculated through inverse dynamics method to obtain the lower limb joint torque value during sit-to-stand motion. An alternative mechanism of a sit-to-stand assistive device is proposed by using cable driven method to provide assistance on user. Power provided by the motor, will give control assistance for the user in giving assistance as needed.