Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these can be physically demanding for therapists while assistive devices may limit patient participation and hinder motor learning. To address these challenges, this work proposes the use of two lower-limb exoskeletons to mediate physical interaction between therapists and patients during a StS rehabilitative task. This approach offers several advantages, including improved therapist-patient interaction, safety enforcement, and performance quantification. The whole body control of the two exoskeletons transmits online feedback between the two users, but at the same time assists in movement and ensures balance, and thus helping subjects with greater difficulty. In this study we present the architecture of the framework, presenting and discussing some technical choices made in the design.

翻译：坐-站（StS）是一项基本的日常活动，但由于中风幸存者下肢力量、运动控制和本体感觉的缺陷，这一活动可能具有挑战性。现有的疗法涉及重复性StS练习，但这些练习对治疗师而言可能体力消耗较大，而辅助设备可能限制患者的参与并妨碍运动学习。为解决这些挑战，本研究提出使用两台下肢外骨骼在StS康复任务中介导治疗师与患者之间的物理交互。该方法具有多项优势，包括改善治疗师-患者互动、增强安全性保障以及实现性能量化。两套外骨骼的全身控制可在两名使用者之间传输在线反馈，同时辅助运动并确保平衡，从而帮助困难更大的受试者。本研究介绍了该框架的架构，展示并讨论了设计中做出的一些技术选择。