The ability to accomplish a sit-to-stand (STS) motion is key to increase functional mobility and reduce rehospitalization risks. While raising aid (transfer) devices and partial bodyweight support (rehabilitation) devices exist, both are unable to adjust the STS training to different mobility levels. Therefore, We have developed an STS training device that allows various configurations of impedance and vertical/forward forces to adapt to many training needs while maintaining commercial raising aid transfer capabilities. Experiments with healthy adults (both men and women) of various heights and weights show that the device 1) has a low impact on the natural STS kinematics, 2) can provide precise weight unloading at the patient's center of mass and 3) can add a forward virtual spring to assist the transfer of the bodyweight to the feet for seat-off, at the start of the STS motion.

翻译：完成坐立转换运动的能力对于提升功能活动性、降低再住院风险至关重要。尽管现有抬升辅助（转移）设备和部分体重支撑（康复）设备，但两者均无法根据不同的活动能力水平调整坐立转换训练。为此，我们开发了一种坐立转换训练设备，该设备可通过多种阻抗与垂直/前向力配置适应多样化的训练需求，同时保持商业抬升辅助转移功能。针对不同身高、体重的健康成年人（包括男性和女性）进行的实验表明，该设备具有以下特点：1）对自然坐立转换运动学影响较小；2）能在患者质心处提供精确的减重支撑；3）可在坐立转换运动起始阶段增加虚拟前向弹簧力，辅助将体重转移至足部以实现离座动作。