Abstract this paper describes a novel mobility assistive

device under development in the Egypt-Japan University of

Science and Technology (E-JUST). The proposed system can
help patients who do not have enough physical strength on the
lower limbs during sit to stand due to aging, diseases such as
polymyositis and myopathy, and joint replacement surgery
complications. It can follow the natural pattern of human
motion during sit to stand providing assistance force under the
shoulder. The overall device is compact and employees a
parallel mechanism which provide more stiffness. Several
experiments were carried out in a VICON room to calculate the
human motion posture while sit to stand motion in addition
estimate the trajectory of the end effector during assisting.
Computer simulation was built to verify the performance of the
proposed system with the reference trajectory.
I. INTRODUCTION
Nowadays, there is an urgent need for assistive devices to
help nurses in their work and to help patients to be
autonomous in their daily activity. Unfortunately, there is a
lack of professional nurses and the number of elders with the
problem of low mobility is increasing. This is visible on both
developed and developing countries including USA, Japan,
France, China, India, Italy, and Egypt. For example, Egypts
population 60 years and older is expected to grow from 7
percent in 2000 to 20 percent in 2050 [1]. Walking and sit to
stand are the most activities carried out by all people many
times during the day, but physical impairments due to age

* This work was supported by a scholarship provided by the mission
department, ministry of higher education of the government of Egypt.
Omar Salah, is with Egypt-Japan University of Science and Technology,
New Borg-El-Arab city, Alexandria, Egypt (phone: 0020122-720-7732; Zip:
21934; (e-mail: omar.mahmoud@ejust.edu.eg).
Ahmed asker, is with Egypt-Japan University of Science and Technology,
New Borg-El-Arab city, Alexandria, Egypt (phone: 0020100-271-9951; Zip:
21934; (e-mail: ahmed.asker@ejust.edu.eg).
Ahmed M. R. Fath El-Bab is with Egypt-Japan University of Science and
Technology, New Borg-El-Arab city, Alexandria, Egypt (on leave from
Mechanical Engineering Department, Faculty of Engineering, Assiut
University) (e-mail: ahmed.rashad@ejust.edu.eg).
Samy F. M. Assal is with Egypt-Japan University of Science and
Technology, (on leave from Department of production engineering and
mechanical design, Faculty of engineering, Tanta University, Egypt Tanta
University), Alexandria, Egypt (e-mail: samy.assal@ejust.edu.eg).
Ahmed A. Ramadan is with Computer & Automatic Control dept.,
Faculty of Engineering, Tanta University, Tanta, Egypt and an adjunct Prof.
at Mechatronics and Robotics dept., Egypt-Japan University of Science and
Technology, (e-mail: ahmed.ramadan@ejust.edu.eg).
Salvatore Sessa is with School of Creative Science and Engineering,
Waseda University Tokyo 168-8480, Japan (e-mail:
s.sessa@aoni.waseda.jp).
Ahmed A. Abo-Ismail, is with Egypt-Japan University of Science and
Technology, New Borg-El-Arab city, Alexandria, Egypt (e-mail:
aboismail@ejust.edu.eg).
and diseases create the need for mobility assistive devices to
help elderly people during their daily life and cope with their
disability [2].
Besides aging, there are other diseases such as
polymyositis [3] and myopathy [4] which reduce muscular
strength. The people affected by these diseases could use the
proposed device for their mobility enhancement. In addition to
that reduced mobility in convalescence after hip replacement
surgery creates also a need. For example in Canada, there were
42,713 acute care hospitalizations for hip replacements in
20102011 [5].
The mobility assistive devices can be classified as fixed
and mobile device [6]. Fixed assistive devices perform the
assistance task in a specific and predetermined environment.
They can be found on two types: the room embedded assistant
or the chair embedded assistant. A good example of the room
embedded assistive device is SpiderBot-II [7]. It has a
wire-driven parallel mechanism with comfortable scheme for
the user by measuring the reaction forces of the links during
walking. However, fixed assistive devices are not mobile
system and can only be used inside the room where they are
installed. Furthermore, a lot of equipment and special
arrangements are used and it takes large space in the room
which makes it suitable only for a specific elderly centers.
Mobile assistive device can be classified into two types:
Passive mobile assistive devices and active mobile assistive
devices. Walker and cane are passive assistive devices. They
are low cost and affordable solution and in most of the cases
they are the most popular assistive device. Unfortunately, they
do not comply with the varying grade of disabilities in elderly
person [8]. Exoskeletons can be used as assistive devices; Hal
[9] and BLEEX [10] are controllable and wearable robots
which can increase the speed and strength of the operator.
Exoskeletons are normally heavy and complex wearable
device so it's inconvenient for elder people also, they need a
lot of regulation and calibration to be adapted from one user to
another and the axis of rotation of the exoskeletons and person
joints may be not coincident which may cause pain or affect
the musculoskeletal system of the patient.
Each of the previously mentioned devices has limitations
which hinder their wide use for elder people growing
societies. In this paper we describe modified version of
E-JUST Assistive Device (EJADII). EJAD is a
semi-autonomous device driven by elders to reduce the need
of the caregiver [11]. EJAD was succeeded in simulation to
estimate the patient intentions in performing sit-to-stand task
by using distributed inertial sensors on the user. The new
proposed device (EJADII) has parallel manipulator which
provides higher structural rigidity in comparison to the serial
manipulator used in EJAD. Our device can be used in
Development of parallel manipulator sit to stand assistive device for
elderly people
Omar Salah, Ahmed Asker, Ahmed M. R. Fath El-Bab, Samy M. F. Assal, Ahmed A. Ramadan,
Salvatore Sessa, and Ahmed Abo-Ismail
2013 IEEE Workshop on Advanced Robotics and its Social Impacts (ARSO)
Shibaura Institute of Technology, Tokyo, JAPAN
November 7-9, 2013
978-1-4799-2369-4/13/$31.00 2013 IEEE 27

hospitals and rehabilitation centers to help in the locomotion
people suffering from polymyositis; myopathy or after
surgeries such as hip replacement.
The paper is organized as follows; section II presents the
proposed structure of our device along with its analysis of
forward, inverse kinematics and forces transmutation. Section
III describes the experiment used to capture human motion
during sit to stand exercise and the method of experimental
data analysis. Section IV presents a simulation of proposed
device assisting a patient model during standing up.
Simulation results are explained in section V. Finally, Section
VI is the conclusion.
II. PROPOSED STRUCTURE
The proposed device consists of a parallel manipulator that
assists the user during sit-to-stand in connection with an active
walker, as shown in Fig.1. The manipulator consists of two
identical 2DOF closed kinematic chains one in each side of the
device, each kinematic chain has two limbs RR and RPR. One
prismatic and one revolute joint are active; the active revolute
joint is actuated using a linear actuator. The manipulator can
work as parallelogram mechanism when all the opposite links
are equal, in this case the end effector of the manipulator
always move parallel to the ground. This enables the device to
work in different scenarios as illustrated in section IV. The
manipulator is carried on an active walker system which is a
differential drive mobile platform. To provide the necessary
stability for the device two castor wheels are used. The end
effector of the manipulators is equipped with a back support
which insures patient comfort during sit-to-stand phase and
eliminates the possibility of falling backward. All the parts in
contact with the patient body are covered with a soft material
to avoid strong compression on the user body which may have
effects on the blood flow, skin, and muscles[12].
A. Kinematics
In this section, the forward and the inverse kinematics of
our proposed mechanism are determined, schematic drawing
of the mechanism is shown in Fig.2. The position of the end
effector P= (

) can be determined as follows

=
1

1
+
2

2
+ (1)

=
1

1
+
2

2
+
5
(2)
Where
1
and
2
are the passive joint variables, is
distance traveled by the active walker and
1
,
2
and
5
are
shown in Fig.2.
The orientation of the end effector can be determined as
follows:
=
2
(3)
Figure 1. The proposed mechanism with the human model

Figure 2. Schematic of the proposed mechanism
Equation 1, 2, and 3 define the position and orientation of
the end effector in the terms
1
and
2
. Therefore, we have to
express them in the terms of the actuator variable d
1
and d
2

which will be used for the control of the actuators.

1
= cos
1

l
4
2
+r
1
2
d
1
2
2l
4
r
1

4
(4)

2
=
1
+
3
+
1

3
2
+
2
2

2
2
2
3

2
(5)
where

1
=
5
2
+
6
2

(6)

4
=
1

3
(7)

2
=
1
2
+
3
2
2
1

1

(8)

3
=
1

1
2
+
2
2

3
2
2
1

2
(9)
B. Inverse kinematics
In this section, inverse kinematics equations are
determined. The inverse kinematics in terms of
1
and
2
can
be determined as follows:

1
=
1

2

2

5

1
(10)
=

1

1

2

2
(11)
The prismatic joint variables can be calculated
from
1
and
2
as follows:

1
=
4
2
+
1
2
2
4

1
+
4

(12)

2
=
3
2
+
2
2
2
3

2
+
2

1

3

(13)
C. Force analysis
In this section, the static force analysis is carried out to find
the forces required to actuate the mechanism and breaking
forces of the active walker. The static force is only considered
because the dynamic forces of human motion during stand up
are less than 10% of the required assisting forces [12].
Active Walker
Actuator 1
Actuator 2
28


Figure 3. static forces transmission in the mechanism.
From force analysis of link 3, the force
43
act on linear
actuator 2, as shown in Fig.3.

43
=

2

2

2

3
(14)
where

= (15)

= (16)

2
=
1

3
2
+
2
2

2
2
2
3

2
(17)
Similarly, the force
52
act on linear actuator 1 can be
found from force analysis of link 2

52
=

23

1
+
23

1
sin
1

1
4
(18)
where

1
=
1

4
2
+
1
2

1
2
2
4

1
(19)

23
=

43

2
+
2
(20)

23
=

43

2
+
2
(21)
The reaction force exerted on the platform in the x-
direction is needed to calculate the required breaking force to
fix the device in place.

=
43

2
+
2
+
32
(22)
III. SIT TO STAND EXPERIMENTS
The goal of this experiment is to analyze posture of human
during standing up. This can help to measure the variables
which characterize the human motion such as hip, knee and
ankle angles. The obtained data is used to specify the end
effector trajectory for simulation to verify that the device can
follow the natural pattern of human motion.
A. Materials and Methods
The VICON system used in this experiment is a 3D human
motion capture system widely used for biomechanics,
biometrics, and rehabilitation [14]. The used system has 8
infrared cameras with ring of IR LEDs. A number of plastic
balls covered with reflective tape are the markers used to
reflect IR light. The markers are attached to several anatomical
points of the human body The VICON station 612 analyzes
the images from multi IR cameras to calculate the position of
the markers with a sub millimeter precision.

Figure 4. Sit to stand experiment room arrangement.

Figure 5. Position of markers and WB3.
B. Experiment protocol
The proposed Experiment was carried out with one healthy
subject performing three sit-to-stand trials with normal
(self-selected) speed, as shown in Fig.4. The subject sat on
armless chair with folded arm on chest and trunk supported
with chair back at the start of the experiment as described in
[15]. The VICON 612 optical motion analysis system was
used to record the postural data during sit to stand; the markers
were placed on the subject on the body as shown in Fig.5. The
trajectories of the markers (sampling rate: 100Hz) describe the
standing-up motion of the subject.
C. Data analysis
MATLAB program is developed to analysis experimental
data stored in the Excel files obtained from VICON and WB3
systems. We considered a 3 DOF model for the human body,
as shown in Fig.6. We consider the movement only in the
sagittal plane during standing up.
MATLAB program uses the following steps for data
analysis:-
Step1: Retrieve the VICON data from a spreadsheet file.
Step2: Retrieve the markers data from the log file. The
movement was considered symmetric, therefore only the left
markers of ankle, knee, hip, and shoulder of the subject are
selected to analyze the motion.
Step3: Connect the markers to establish links which
represent human body i.e. Ankle and Knee were used for
representing the first link; knee and hip were used for
representing the second link; shoulder and hip markers were
used for representing the third link.
Step4: determine the location of hip and knee joints by
establishing two triangles namely knee and hip triangles, as
shown in Fig.7.Then calculate the angle with the following
equation. As in
29

200 400 600 800 1000 1200 1400
200
400
600
800
1000
1200
1400
X (mm)
Y
(m
m
)


Figure 6. 3-DOF body diagram. Figure 7. Knee and Hip triangles.

(a) Trunk flexion (b) Momentum transfer

(c) Hip joint extension (d) Movement stabilization
Figure 8. Sit-to-Stand phases
=

2
+

2
2

(23)
Where

and

are the lengths of the sides of the

triangle, and A is angle to be found.
In the sit-to-stand experiment, we can distinguish between
four different phases of rising from chair that match with
physiological literature [16], as shown in Fig.8: namely trunk
flexion, momentum transfer, hip joint extension, movement
stabilization phases. Generally, the trunk plays an important
role in generating momentum to carry the body during sit to
stand [17, 18]. The trunk needs to move forward during
standing up in order to reduce the load on knee. Fig. 9 shows
the angular value of trunk and knee in vertical-axis in respect
to time in horizontal-axis in sit to stand experiments.
IV. SIMULATION
Simulation is used to predict the motion of the device by
solving kinematics equations of the mechanisms along the
desired trajectory. A MATLAB program is developed to
analyze the motion of the device. To verify that the device can
provide assistance in a natural pattern, the end effector is set to
follow the trajectory obtained from stand up motion data of
health subject in VICON experiment, as show in Fig.10.
Two motion scenarios with human body mode are
proposed:
First scenario the active walker move and the orientation
of end effector of the device parallel to ground by actuating
only actuator 1, as shown in Fig.11. The inverse kinematic in
this case is as follows:

Figure 9. Knee and trunk angular value for sit to stand.

Figure 10. The path of EJADII end effector



Figure 11. Simulation of EJADII assisting a patient with first scenario



Figure 12. Simulation of EJADII assisting a patient with Second scenario.
200 400 600 800 1000 1200 1400
200
400
600
800
1000
1200
1400
X (mm)
Y

(
m
m
)
200 400 600 800 1000 1200 1400
200
400
600
800
1000
1200
1400
X (mm)
Y
(
m
m
)
200 400 600 800 1000 1200 1400
200
400
600
800
1000
1200
1400
X (mm)
Y

(
m
m
)
500 1000 1500 2000 2500
60
80
100
120
140
160
180
Time(ms)
A
n
g
le
(
d
e
g
r
e
e
)

knee
Trunk
-0.8 -0.7 -0.6 -0.5 -0.4 -0.3 -0.2
0.9
1
1.1
1.2
1.3
1.4
1.5
X (m)
Y
(
m
)
real
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-2 -1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-2 -1.5 -1 -0.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-2 -1.5 -1 -0.5
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
-1.8 -1.6 -1.4 -1.2 -1 -0.8 -0.6 -0.4
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
X (m)
Y

(
m
)
First Link
Second Link
Third link
Knee angle
Hip angle
Knee Triangle
Hip triangle
30

0 50 100 150 200 250 300
200
400
600
800
1000
1200
Time(0.01 s)
F
o
r
c
e
o
f
lin
e
a
r
a
c
t
a
u
t
o
r
1
(
N
)

1
=
1

1
2
+
2

2
2
2
1

+ (24)

2
=
1

1
2
+
2
2

2
2
1

2
+
1
(25)
where
=

)
2
+

2

(26)
=
1

(27)
Substituting (24) and (25) in (12) and (13) the joint variables
can be determined.
Second scenario active walker fixed and help the patient
with robot arm only by actuate actuator 1 and 2 to follow
trajectory, as shown in Fig.12. The inverse kinematic in this
case is as follows:

2
= 0 (28)

1
=
1

1
(29)
=

1

2
(30)
Substituting (28), (29) and (30) in (13) and (14) the joint
variables can be determined.
V. RESULT
From this simulation, joints variables, displacement,
velocity and acceleration are shown in Fig.13 and Fig.14. For
the force transmission analysis, it is assumed that the device
will carry 50% of subject weight. We assume that the weight
of the subject is 1000 N. Fig.15 and Fig.16 show the forces on
the linear actuators of EJADII Since forces are calculated for
the device; each side carries half of the calculated forces.


a) Displacement of active walker b) Displacement of actuator 1


c) velocity of active walker d) velocity of actuator 1

e) Acceleration of active walker f) Acceleration of actuator1
Figure 13. Displacements, velocities and accelerations of EJADII
during first scenario.


a) Displacement of actuator 1 b) Displacement of actuator 2


c) velocity of actuator 1 d) velocity of actuator 2


e) Acceleration of actuator1 f) Acceleration of actuator2
Figure 14. Displacements, velocities and accelerations of EJADII
during second scenario.


a) force of actuator1 b) force of actuator2
Figure 15. Forces of EJADII during first scenario


a) force of actuator1 b) force of actuator2
Figure 16. Forces of EJADII during Second scenario
The results show that the device can be realized by
commercially available actuators. The two scenarios
represent the extreme cases for providing assistance by the
mechanism. The forces in the second scenario are less than
the forces in the first one. However, the first scenario
provides fixed orientation of the end effector which might
result in a more comfortable configuration for the user. In the
next step of research, other physiological criteria and user
feedback i.e. questionnaires will be used to determine the best
assisting scenario.
VI. CONCLUSION
In this paper, 5-bar parallel manipulator is proposed to
provide assistance during sit to stand. The kinematics
equations are determined and static force analysis is carried
out. The trajectory of the end effector during assistance is
obtained from sit to stand experiment in VICON room this
experiment. The mechanism successfully follows natural
0 50 100 150 200 250
-2.2
-2
-1.8
-1.6
-1.4
Time(0.01s)
A
c
t
i
v
e

w
a
l
k
e
r

d
i
s
p
l
a
c
e
m
e
n
t

(
m
)
0 50 100 150 200 250
0.7
0.75
0.8
0.85
0.9
0.95
1
1.05
Time(0.01 s)
L
i
n
e
a
r

a
c
t
u
a
t
o
u
r

d
i
s
p
l
a
c
e
m
e
n
t

(
m
)
0 50 100 150 200 250
-1
-0.5
0
0.5
1
Time(0.01 S)
v
e
l
o
c
i
t
y

o
f

a
c
t
i
v
e

w
a
l
k
e
r

(
m
/
s
)
0 50 100 150 200 250
-0.2
-0.1
0
0.1
0.2
0.3
0.4
Time(0.01s)
v
e
l
o
c
i
t
y

o
f

L
i
n
e
a
r

a
c
t
u
a
t
o
r

1
(
m
/
s
)
0 50 100 150 200 250
-3
-2
-1
0
1
2
3
Time (0.01 s)
a
c
t
i
v
e

w
a
l
k
e
r

a
c
c
a
l
e
r
a
t
i
o
n

(
m
2
)
0 50 100 150 200 250
-1
-0.5
0
0.5
1
Time (0.01 s)
lin
e
a
r
a
c
t
u
a
t
o
r
a
c
c
a
le
r
a
t
io
n
(
m
/s 2
)
0 50 100 150 200 250
0.9
0.92
0.94
0.96
0.98
1
1.02
Time(0.01S)
d
ic
p
la
s
m
e
n
t
o
f
a
c
t
u
t
o
r
1
(
m
)
0 50 100 150 200 250
-0.02
0
0.02
0.04
0.06
0.08
0.1
Time(0.01s)
v
e
lo
c
it
y
o
f
lin
e
a
r
a
c
t
u
a
t
o
r
1
(
m
/s
)
0 50 100 150 200 250
-0.2
0
0.2
0.4
Time(0.01s)
v
e
l
o
c
i
t
y

o
f


a
c
t
u
a
t
o
r

2

(
m
/
s
)
0 50 100 150 200 250
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
0.2
Time (0.1 s)
a
c
c
a
le
r
a
tio
n
o
f lin
e
a
r
a
c
tu
a
to
r
1
(m
/s
2
)
0 50 100 150 200 250
-1
-0.5
0
0.5
1
Time(0.01 S)
a
c
c
o
f a
c
tu
a
to
r
2
(m
m
/s
2
)
0 50 100 150 200 250
500
1000
1500
2000
2500
Time(0.01s)
F
o
r
c
e

o
f

l
i
n
e
a
r

a
c
t
u
a
t
o
r

2

(
m
)

0 50 100 150 200 250
200
400
600
800
1000
1200
Time(0.01 S)
F
o
r
c
e

o
f

L
i
n
e
a
r

a
c
t
u
a
t
o
r

1
(
N
)
0 50 100 150 200 250
700
750
800
850
900
Time(0.01 S)
F
o
r
c
e

o
f

l
i
n
e
a
r

a
c
t
u
a
t
o
r

2

(
N
)
0 50 100 150 200 250
0.65
0.7
0.75
0.8
0.85
0.9
0.95
Time (0.01 s)
D
ic
p
la
c
e
m
e
n
t o
f a
c
tu
a
to
r
2
(
m
)
31

pattern of human motion in two different scenarios. The first
scenario succeeded to maintain the end effector parallel to the
ground by moving the active walker and only one actuator.
On the other hand, the second scenario maintains the device
braked and the movement comes from the two linear
actuators.
APPENDIX
TABLE 1 SYSTEM PARAMETERS.
Symbo
l
Description
p
x
x- Coordinate of the end effector.
p
y
y- Coordinate of the end effector.
l
1
Length of link 2.
l
2
Length of link 3.
l
3
Length of the ground link.
l
4
Distance from the joint connecting actuator 1
and link 2 and the joint connecting link 2 with
the ground.
l
5
The height of the active walker.
l
6
The distance between point o
1
and the joint
connecting linear actuator 2 and the ground
link.
d Linear distance traveled by the active walker
d
1
Length of the linear actuator 1.
d
2
Length of the linear actuator 1.
Orientation of the end effector.

1
Angle between link 2 and the ground link
(horizontal).

2
Angle between link 3 and the horizontal.
The angle between link3 and .

1
Angle between linear actuator 1 and link 2.

2
Angle between linear actuator 2 and link 3.

3
The angle between linear actuator 1 and r
2
.

4
The angle between the ground link and r
1
.
r The virtual line extended from point o
1
to
point P.
r
1
The virtual line extended from joint
connecting link 2 with the ground link to joint
connecting linear actuator 1 with the ground
link.
r
2
The virtual line extended from joint
connecting link 4 with the ground link to joint
connecting link 2 with link 3.
f
43
The force in the actuator 1.
f
52
The force in the actuator 2.
f
23x
The force link 2 exerts on link3 in the x-
direction.
f
23y
The force link 2 exerts on link3 in the y-
direction.
f
20x
The force link 2 exerts on the ground link in
the x-direction.
f
20y
The force link 2 exerts on the ground link in
the y-direction.

50
The horizontal force actuator 1 exerts on the
ground link.

50
The vertical force actuator 1 exerts on the
ground link.

The force exerted on the active walker.

ACKNOWLEDGMENT
The first two authors acknowledge the Mission department
of the Ministry of Higher Education of Egypt for granting
them scholarships to carry out their graduate studies in
Egypt-Japan University of Science and Technology, and fully
support this research work. The support of Waseda
University-Japan is highly appreciated and recognized.
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