The aim is to develop a force assistance system for standing‐up which prevents the decreasing of physical strength of the patient by using their remaining physical strength.
The system realizes the standing up motion using the support bar with two degrees of freedom and the bed system which can move up and down. For using the remaining physical strength, our system uses the motion pattern which is based on the typical standing up motion by nursing specialist as control reference.
The assistance system realizes the natural standing up motion by nursing specialist and it is effective to assist the aged person to stand up without reducing their muscular strength.
The first idea is distributed system which controls the support bar and the bed system with coordination among them. The second idea is the combination of force and position control.
