Mechatronic design of a sit-to-stance exoskeleton

This paper describes the design and development of an exoskeleton that can deliver assistance-as-needed to patients or elderly with muscle weakness. Since the proof-of-concept is a first step towards the development of a final commercial prototype, the design had to be adaptable for patients with different heights, be comfortable for the patients, safe in use, energy-efficient and affordable in production. For this reason a modular system was built, using the same compliant actuator system in all joints. This paper describes the global design decisions made and the construction of the actual prototype.