Lower Limb Control Architecture To Assist Sit-To-Walk Transitions

Sit-to-walk is a fundamental daily activity. However, aging or movement impairments deteriorate STW thus, reducing mobility, increasing fall risk, and negatively impacting quality of life. Assistive devices have gained significance for supporting compromised STW, where their effectiveness depends on their underlying control architecture. This thesis develops a personalised control architecture by integrating movement initiation detection and joint torque prediction models, tailored for individual body characteristics and movement strategies. This generates timely, effective, and more natural assistance during STW transitions for older adults and individuals in rehabilitation.