Analysis of therapist's guiding motion for standing-up training of hemiplegic stroke patients

A patient with hemiplegia after a stroke stands up by using mainly his/her healthy leg rather than his/her paralyzed leg. Therefore, a therapist guides the motion of the patient so that he/she can stand up by using both legs well and in balance. The final goal of our research is to develop a rehabilitation support robot for standingup training of patients with hemiplegia after a stroke, to restore normal standing-up motion. For this purpose, it is necessary to analyze the therapist's guiding motion, and on the basis of the analysis results, to design and construct a rehabilitation support robot for standing-up training. In the work described in this paper, we constructed a measurement system and analyzed a therapist's guiding motion and the guided standing-up motion of a patient. We obtained fundamental data required for designing a rehabilitation support robot.