Design of a Rise Support to be integrated in the HOBBIT Robot

Abstract: The purpose of the thesis work is to analyze the possibility to integrate a sit-to-stand functionality into the HOBBIT service robot for elderly people while keeping the stability of the robot. A prototype with a knee support and a handle was used in combination with a motion capture system to capture joints angles and forces during the sit-to-stand movement. A skeletal model was created using the OpenSim software where data and a CAD model of the robot were imported and analyzed. Matlab was used to calculate the stability of the robot and optimize the positions of the knee support and handle. Finally, the prototype was tested with four elderly people. The forces necessary to rise up did not compromise the stability of the robot and the users found the prototype useful, comfortable and necessary.