Real-Time Control for Assisted Sit-to-Stand via Legged Robotic Helpers

Bipedal robotic systems open up distinctive opportunities to aid individuals with reduced mobility in daily activities such as walking, rising from a seated position, and engaging in fundamental tasks that involve standing, such as bathing or getting dressed. This paper proposes a real-time framework to perform assisted sit-to-stand maneuvers through collaboration with a legged robot. The study develops a reduced-order model and presents preliminary simulation results, showcasing the realtime performance of the control framework while accomplishing a sit-to-stand maneuver. Additionally, the framework incorporates critical system constraints aimed at preventing robot falls and mitigating the over-extension of joints.