Patent Publication Number: US-2015088038-A1

Title: Standup assistance apparatus and method

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2013-196196, filed Sep. 20, 2013, the entire contents of which are incorporated herein by reference. 
     FIELD 
     Embodiments described herein relate generally to a standup assistance apparatus and method. 
     BACKGROUND 
     Any person unable to stand up because of disease or weakened muscles needs some assistance to move. A technique for assisting such a person to stand up, for example, is available. This technique uses a load sensor embedded in the surface of a seat. When a user sitting on the seat moves forward to stand up, the seat is controlled in accordance with the output of the load sensor, whereby the seat surface moves up and forward, assisting the user to stand up. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a block diagram illustrating a standup assistance apparatus according to a first embodiment; 
         FIG. 2  is a flowchart illustrating how a standup ability determination unit operates in the standup assistance apparatus according to the first embodiment; 
         FIG. 3  is a diagram illustrating a first example in which a total floor counter-force and a seat-surface counter-force change as a subject stands up; 
         FIG. 4  is a diagram illustrating a second example in which the total floor counter-force and the seat-surface counter-force change as the subject stands up; 
         FIG. 5  is a flowchart illustrating how the standup ability determination unit operates in a modification of the first embodiment; 
         FIG. 6  is a diagram illustrating a first example in which the total floor counter-force and the seat-surface counter-force change as the subject stands up, assisted by the modification of the first embodiment; 
         FIG. 7  is a diagram illustrating a second example in which the total floor counter-force and the seat-surface counter-force change as the subject stands up, assisted by the modification of the first embodiment; 
         FIG. 8  is a diagram illustrating an example in which the standup ability of the subject is determined from the acceleration of the subject; 
         FIG. 9  is a block diagram illustrating a standup assistance apparatus according to a second embodiment; 
         FIGS. 10A and 10B  are diagrams illustrating examples of how the standup assistance apparatus according to the second embodiment is used; 
         FIG. 11  is a diagram illustrating a separate example of the assistance output unit of the standup assistance apparatus according to the second embodiment; and 
         FIG. 12  is a flowchart illustrating how the standup assistance apparatus according to the second embodiment operates. 
     
    
    
     DETAILED DESCRIPTION 
     In the method described above, it is detected when the occupant starts moving, but no determination is made of whether the occupant is able to stand up or not, and the standup-assistance ability of the apparatus is not automatically adjusted in accordance with the muscle power of the occupant. That is, the apparatus always raises up the seat surface with the same power, irrespective of the user&#39;s physical ability (hereinafter referred to as “standup ability”), including muscle power and balancing ability. The apparatus is not designed to utilize the standup ability the occupant possesses and thereby prevent their ability from decreasing from the present level. 
     In general, according to one embodiment, a standup assistance apparatus includes a measurement unit, a detection unit and a determination unit. The measurement unit is configured to measure a center-of-gravity acceleration at which a position of a center-of-gravity of a subject moves. The detection unit is configured to detect whether or not buttocks of the subject contact a surface. The determination unit is configured to determine a standup ability of the subject in accordance with whether or not the buttocks contact the surface when the center-of-gravity acceleration reaches a first extreme value or a second extreme value which is a next extreme value of the first extreme value. 
     In the following, the standup assistance apparatus and method according to an embodiment of the present disclosure will be explained with reference to the drawings. In the following embodiments, the explanation of the elements with the same reference numerals will be omitted for brevity as their operations will be the same. 
     First Embodiment 
     A standup assistance apparatus according to the first embodiment will be described with reference to the block diagram of  FIG. 1 . 
     The standup assistance apparatus  100  according to the first embodiment includes a center-of-gravity acceleration measurement unit  101 , a contact detection unit  102 , a standup-ability determination unit  103 , and an output unit  104 . 
     The center-of-gravity acceleration measurement unit  101  detects the center-of-gravity acceleration of the subject. The subject is a user unable to stand up by themselves, and therefore needs to use the apparatus for rehabilitation. The center-of-gravity acceleration is the acceleration at which the center-of-gravity of the subject moves, for example, in the vertical direction. The center-of-gravity acceleration may be measured by, for example, an acceleration sensor, an image sensor, motion capture, a force sensor, or a weight sensor. 
     The center-of-gravity acceleration may be calculated as follows. An acceleration sensor is attached to the trunk of the subject and measures the acceleration, while a geomagnetism sensor is used in determining the vertical direction, enabling the center-of-gravity acceleration of the subject to be calculated. If an image sensor or motion capture is used, the center-of-gravity can be calculated from the positions of the subject&#39;s joints, thereby determining the center-of-gravity acceleration. If a weight sensor is used, the center-of-gravity acceleration can be determined from the floor counter-force, which is proportional to the center-of-gravity acceleration. In this embodiment, a weight sensor is embedded in the floor that supports the subject, and shall hereinafter be called a “floor-surface weight sensor.” Hence, the total floor counter-force measured by the floor-surface weight sensor is used as a physical quantity corresponding to the center-of-gravity acceleration. 
     The contact detection unit  102  detects whether or not the subject&#39;s buttocks are in contact with the surface of the seat to determine the contact status of the subject. The surface is, for example, the seat surface the subject contacts while occupying the seat. This embodiment is based on the assumption that the subject stands up from the seat. The weight sensor is therefore embedded in the seat surface (referred to as a floor-surface weight sensor). Nonetheless, if the subject sits on the floor, the weight sensor is also embedded in that part of the floor which the subject&#39;s buttocks may contact. In this case, too, the center-of-gravity acceleration can be measured in the same way. The buttocks are determined to not be contacting the seat surface if the weight sensor detects 0 kgf, and to be contacting the seat surface if the weight sensor detects a force greater than 0 kgf. The contact status determined from the output of the weight sensor shall be called a “seat-surface counter-force.” The seat-surface counter-force may be the weight measurement obtained by the floor-surface weight sensor, or may be represented by a binary value showing whether or not the subject&#39;s buttocks are in contact with the seat surface. 
     Whether or not the subject&#39;s buttocks are in contact with the seat surface may be determined not only by the weight sensor, but may also be determined by, for example, at least one sensor selected from the group consisting of a contact sensor, an image sensor, motion capture, a temperature sensor, a strain sensor, an infrared beam sensor, and a laser range finder. Specifically, if one contact sensor is used, it can be determined whether or not the buttocks are in contact with the seat surface. If two or more contact sensors are used, it can be detected whether or not the buttocks contact a specific part of the seat surface. If an image sensor, motion capture, and infrared beam sensor are used, both the buttocks and the seat surface are detected, and whether or not the buttocks are in contact with the seat surface is determined from the distance between the two. If a temperature sensor is embedded in the seat surface, it can determine that the buttocks contact the seat surface if the temperature the sensor detects is equal to or greater than a threshold value. If a strain sensor is embedded in the seat surface, it can determined that the buttocks contact the seat surface if the strain the sensor detects is equal to or greater than a threshold value. Alternatively, a laser range finder may be positioned to detect the distance between the seat surface and the buttocks contacting the seat surface. The change in distance can be detected as the subject rises from the seat. 
     The standup-ability determination unit  103  receives center-of-gravity acceleration data and contact status data from the center-of-gravity acceleration measurement unit  101  and the contact detection unit  102 , respectively. The standup-ability determination unit  103  determines the subject&#39;s ability to stand up, i.e., their physical ability including muscle power and balancing ability, in accordance with whether or not the subject&#39;s buttocks contact the seat surface at the time the center-of-gravity acceleration reaches a first extreme value, and also at the time the center-of-gravity acceleration reaches a second extreme value. In this embodiment, the first and second extreme values are, respectively, the maximum value and minimum value the center-of-gravity acceleration has as the total floor counter-force (i.e., center-of-gravity acceleration), if the center-of-gravity acceleration is regarded as increasing upward in the vertical direction. Also, in this embodiment the standup ability is determined in three or more levels, from the total floor counter-force and the seat-surface counter-force. The following description is based on the assumption that the lower the value of the standup ability level is, the higher the subject&#39;s standup ability, and that the higher the value of the standup ability level is, the lower the subject&#39;s standup ability. 
     The output unit  104  receives the determination result of the subject&#39;s standup ability from the standup-ability determination unit  103 , and outputs the determination result. That is, the output unit  104  is, for example, a display showing the data representing the subject&#39;s standup ability. The subject&#39;s standup ability displayed includes, for example, the standup ability level and the index based on the standup ability level. The output unit  104  may output the center-of-gravity acceleration data (change over time), in addition to the data representing the standup ability. 
     Next, the standup-ability determination unit  103  will be explained with reference to the flowchart of  FIG. 2 . The standup-ability determination unit  103  may acquire, at regular intervals, the time-series data of the total floor counter-force from the center-of-gravity acceleration measurement unit  101  and the seat-surface counter-force from the contact detection unit  102 , thereby determining the subject&#39;s standup ability. In order to save power consumption, the standup-ability determination unit  103  may also start operating when the user pushes a start button, or when the total floor counter-force or the seat-surface counter-force changes to a threshold value or a greater value. 
     In Step S 201 , it is determined whether or not a maximum total floor counter-force value is present within a given time from the start of the process of detecting the center-of-gravity acceleration. To determine this, it suffices to detect the change in the total floor counter-force, distinguished from noise. If the maximum total floor counter-force value is present in the given time, the process goes to Step S 202 . If the maximum total floor counter-force value is not present in the given time, the process goes to Step S 205 . 
     In Step S 202 , it is determined whether or not the subject&#39;s buttocks contact the seat surface at the time (referred to as a first timing) when the total floor counter-force reaches the maximum value. If the subject&#39;s buttocks contact the seat surface, the process goes to Step S 204 . If the subject&#39;s buttocks do not contact the seat surface, the process goes to Step S 203 . 
     In Step S 203 , it is determined that the subject can stand up by themselves. The subject&#39;s standup ability is therefore determined to be at “high level (level 1)”. 
     In Step S 204 , it is determined whether or not the subject&#39;s buttocks contact the seat surface at the time (also called “second timing”) the total floor counter-force takes the minimum value. If the subject&#39;s buttocks contact the seat surface, the process goes to Step  205 . If the subject&#39;s buttocks contact the seat surface, the process goes to Step  206 . 
     In Step S 205 , it is determined that the subject is unable to stand up by themselves. The subject&#39;s standup ability is therefore determined to be at “low level (level 3)”. 
     In Step S 206 , it is determined that the subject&#39;s buttocks have left the seat surface at least once. The subject is therefore considered able to stand up, but not so well. The subject&#39;s standup ability is therefore determined to be at “intermediate level (level 2)”. The standup-ability determination unit  103  finishes a determination process. 
     In case it is difficult to determine the maximum and minimum values of the total floor counter-force, a moving average or a filter may be used to remove the noise, and the maximum or minimum value may then be determined. If a change greater than the noise is observed, both the maximum value and the minimum value may be determined. 
     Next, the operation of standup-ability determination unit  103  will be explained in greater detail with reference to  FIGS. 3 and 4 . 
       FIG. 3  is a diagram showing a first example in which the total floor counter-force and the seat-surface counter-force change over time as the occupant stands up. In  FIG. 3 , the vertical axis is the center-of-gravity acceleration [mm/s 2 ] and is plotted on the vertical axis, and the time [s] is plotted on the horizontal axis. In  FIG. 3 , the upper line  301  shows how the total floor counter-force changes over time, and the lower line  302  shows how the seat-surface counter-force changes over time. 
     In  FIG. 3 , a time point “standup start” is the time the user pushes the start button, or the time the center-of-gravity acceleration decreases as the subject shifts their body before standing up. This decrease in center-of-gravity acceleration can be detected as a change in center-of-gravity acceleration which is not less than the change resulting from noise and is not more than the threshold value for determining the maximum or minimum value. 
     The standup-ability determination unit  103  detects the maximum and minimum values of the total floor counter-force at time after the time point “standup start.” 
     In  FIG. 3 , point A indicates the maximum value, and Ta indicates the time at which the total floor counter-force reaches the maximum value A. After reaching the maximum value A, the slowing acceleration of the subject to stop their movement causes the total-floor counter-force to acquire the minimum value. In  FIG. 3 , point B indicates the minimum value, Tb indicates the time the total floor counter-force takes the minimum value B. 
     If the subject has sufficient ability to stand up as an able-bodied person does, the seat-surface counter-force  302  will decrease to zero at time Ta and time Tb. This shows that the subject&#39;s buttocks have left the seat surface, or that the subject has stood up already. The subject&#39;s standup ability is therefore determined to be at “high level (level 1)”. 
       FIG. 4  is a diagram showing a second example in which the total floor counter-force and the seat-surface counter-force change over time as the subject cannot stand up. 
     As shown in  FIG. 4 , the seat-surface counter-force does not decrease to zero at time Ta when the total floor counter-force has the maximum value or at time Tb when the total floor counter-force has the minimum value. That is, the subject&#39;s buttocks have not left the seat surface (the subject remains seated), or the maximum value when the subject is about to stand up is buried in the noise and is unable to be detected. In this case, the subject&#39;s standup ability is determined to be at “low level (level 3)”. 
     Any data change not pertaining to either the data waveform of  FIG. 3  or the data waveform of  FIG. 4  may be considered as representing standup ability of the intermediate level (level 2). 
     Modification of the First Embodiment 
     The intermediate level may be classified into sub-levels in a modification of the first embodiment. 
     The operation of standup-ability determination unit  103  in a modification of the first embodiment will be explained with reference to the flowchart of  FIG. 5 . In the modification, the intermediate level is classified into two sub-levels. As a result, it is determined whether or not the subject&#39;s standup ability is at one of four levels. In the modification, Steps S 201  to S 205  are identical to those shown in  FIG. 2 , and will not be described. For convenience, the subject&#39;s standup ability level determined in Step S 205  will be called “standup-unable level (level 4)”. 
     In Step S 501 , it is determined whether or not the subject&#39;s buttocks again contact the seat surface at a time elapsed a given time from the time the total floor counter-force reaches the minimum value. If the buttocks contact the seat surface again, the process goes to Step S 502 . If the buttocks do not contact the seat surface again, the process goes to Step S 503 . The given time is preferably 500 ms or less, but it is not limited to this and it may have any appropriate value. 
     In Step S 502 , it is determined that the buttocks have at least partially left the seat surface. This shows that the subject has some ability to stand up. The subject&#39;s standup ability is therefore determined to be at “low level (level 3),” which is higher than level 4. 
     In Step S 503 , it is determined that the subject cannot rise from the seat surface at the time the total floor counter-force is at maximum, but can rise, with the subject&#39;s buttocks finally leaving the seat surface. Namely, the subject is found at “intermediate level (level 2),” and is able to stand up, but needs more time to rise than at high level (level 1). 
     Some specific examples of modifications of the first embodiment will be described with reference to  FIG. 6  and  FIG. 7 . 
       FIG. 6  is a diagram showing how the total floor counter-force and the seat-surface counter-force change as a subject with a standup ability at the intermediate level (level 2) stands up, assisted by a modification of the first embodiment. 
     As shown in  FIG. 6 , at time Ta when the total floor counter-force has the maximum value A, the seat-surface counter-force is not zero. At time Tb when the total floor counter-force has the minimum value B, the seat-surface counter-force is zero and remains zero afterward. In this case, the subject slowly stands up, and their standup ability is considered lower than high level (level 1) at which the subject can stand up quickly. The subject is therefore considered having standup ability at intermediate level (level 2). 
       FIG. 7  is a diagram showing how the total-floor counter-force and the seat-surface counter-force change as the subject of standup ability at low level (level 3) stands up, assisted by the modification of the first embodiment. 
     As shown in  FIG. 7 , at time Ta when the total floor counter-force has the maximum value A, the seat-surface counter-force is not zero. At time Tb when the total floor counter-force has the minimum value B, the seat-surface counter-force is zero and remains zero afterward. Upon elapsing a given time, the seat-surface counter-force starts increasing. This can be thought of as a case where the subject rises a little but sits down again. Hence, the ability of the subject to stand is found at low level (level 3), which is higher than standup-unable level (level 4). 
     In the example described with reference to  FIG. 2  to  FIG. 7 , the total-floor counter-force is regarded as increasing from minimum value to maximum value, upward in the vertical direction, and may be regarded as increasing downward in the vertical direction. If this is the case, the maximum value and the minimum value replace each other, but the total-floor counter-force can be determined in the same way. 
     As described in the example above, the subject&#39;s standup ability is determined from their center-of-gravity acceleration in the vertical direction. However, the subject&#39;s standup ability can also be determined from the amplitude of their acceleration. The amplitude of acceleration may be the sum of the X-axis vector component (in the subject&#39;s left-right direction), Y-axis vector component (in the subject&#39;s fore-aft direction) and Z-axis vector component (in the vertical direction), or may be the Z-axis vector component only. If the subject&#39;s standup ability is determined from the amplitude of their acceleration, it may be determined at the time it reaches a first extreme value and at the time it reaches a second extreme value. The first and second extreme values reach maximum if they increase upward in the vertical direction, and reach minimum if they increase downward in the vertical direction. 
     An example in which the subject&#39;s standup ability is determined from the acceleration of the subject will be described with reference to  FIG. 8 . 
       FIG. 8  shows how the subject&#39;s acceleration changes in the case where the subject&#39;s standup ability is determined at high level (level 1). The center-of-gravity acceleration is plotted on the vertical axis, and the time is plotted on the horizontal axis. In  FIG. 8 , lines  801  and  802  show how the acceleration in Z axis and the acceleration in Y axis change over time, respectively, and line  803  shows how the vector of the X-, Y-, and Z-axis acceleration components changes over time. As seen from line  803 , the Z-axis (vertical direction) component is predominant while the subject is standing up. The three-component vector (i.e., X-, Y-, and Z-axis acceleration components) changes in a way similar to the way the vertical-direction component changes. Therefore, extreme value  804  is observed as a first extreme value. If extreme value  805  is then observed as a second extreme value, it will be determined that the subject has stood up quickly, and the subject&#39;s standup ability is determined to be at “high level (level 1). 
     According to the embodiments described above, the first embodiment can accurately determine the subject&#39;s standup ability from the change in their center-of-gravity acceleration. That is, the standup ability the subject has at any time in any physical state can be determined. Since the subject&#39;s center-of-gravity acceleration may be measured by, for example, a weight sensor, many users can use the standup assistance apparatus without the need to set parameters prior to using it. 
     Second Embodiment 
     The second embodiment differs from the first embodiment in that it uses an assistance output unit to help the subject to stand up in accordance with the subject&#39;s determined standup ability. 
     A standup assistance apparatus according to the second embodiment will be described with reference to the block diagram of  FIG. 9 . 
     The standup assistance apparatus  900  according to the second embodiment includes a center-of-gravity-acceleration measurement unit  101 , a contact detection unit  102 , a standup-ability determination unit  103 , and an assistance output unit  901 . The standup assistance apparatus  900  is identical to the standup assistance apparatus  100  according to the first embodiment, except for the assistance output unit  901 . Therefore, the units  101 ,  102 , and  103  will not be described again. 
     The assistance output unit  901  receives the determination result of the subject&#39;s standup ability from the standup-ability determination unit  103 , and assists the subject in accordance with the determination result. The lower the standup ability of the subject, the more assistance the subject needs to stand up. Therefore, the standup-ability determination unit  103  generates a physical output inversely proportional to the subject&#39;s standup ability, in order to help the subject to stand up. The assistance output unit  901  may include a motor. In this case, the motor torque is increased in inverse proportion to the standup ability, generating a larger physical output. The method of outputting the physical output will be described later with reference to  FIG. 12 . 
     An example of using the standup assistance apparatus according to the second embodiment will be described with reference to  FIGS. 10A and 10B . 
       FIGS. 10A and 10B  show a standup assistance apparatus  1000  according to the second embodiment. This apparatus  1000  includes an assistance output unit  1001 , a floor  1002 , and a chair  1003 . 
     The assistance output unit  1001  includes arms  1004  and a handle  1005 . The handle  1005  is connected, at both ends, to the arms  1004 . The arms  1004  are rotated with a force inversely proportional to the subject&#39;s determined standup ability. A floor weight sensor is embedded in the floor  1002  to detect the total floor counter-force. A chair weight sensor is embedded in the chair  1003  to detect the seat-surface counter-force. 
     As shown in  FIG. 10B , the subject  1050  may sit on the chair  1003  and may then hold the handle  1005  to stand up from the chair  1003 . 
     In this case, the arms  1004  are rotated around an axle  1006  in the direction of the arrow (in a counterclockwise direction), with the force set in accordance with the standup ability determined by the standup assistance apparatus  1000 . So rotated, the arms  1004  help the subject to stand up because the subject keeps holding the handle  1005 . 
     The arms  1004  may be moved up in the vertical direction, not rotated in the direction of the arrow. In this case, too, the standup assistance apparatus  1000  can help the subject to stand up. 
       FIG. 11  shows another type of an assistance output unit for use in the standup assistance apparatus  1000 . The assistance output unit  1100  shown in  FIG. 11  includes a moving unit  1101  and a handle  1102 . 
     The moving unit  1101  is mounted on a fixed bar  1103  and can slide on the fixed bar  1103 . 
     The handle  1102  is connected to the moving unit  1101  and is located above the knee joints of the subject sitting on the chair  1003  ( FIG. 10 ). The handle  1102  can be rotated in the z direction, around a pin  1104 , so that the assistance output unit  1100  may be stored in a confined space. 
     To help the subject to stand up, the fixed bar  1103 , for example, is inclined in the y-z plane, not parallel to the y-axis. This enables the moving unit  1101  to move in both the y-axis direction and the z-axis direction. The assistance output unit  1100  can therefore help the subject to stand up. The fixed bar  1103  may be arranged parallel to the y-axis. In this case, a mechanism for moving the moving unit  1101  in the z-axis direction is used to move the unit  1101  in both the y-axis direction and the z-axis direction. 
     The standup assistance apparatus  1000  shown in  FIG. 10  is designed to assist the subject by using the arms extending from the main unit. However, the apparatus may also have an assistance output unit installed on the floor or the wall, an assistance output unit of moving type, or an assistance output unit attached to the subject. Furthermore, the assistance output unit is not limited to the type having arms and a handle, it may also be designed to support or wrap the body of the subject. 
     The operation of the standup assistance apparatus  900  according to the second embodiment will be explained with reference to the flowchart of  FIG. 12 . 
     Steps S 201  to S 205  and Steps S 501  to S 503  are identical to those shown in  FIG. 5 , and will not be described again. 
     In Step S 1201 , the subject&#39;s standup ability is determined to be at high level (level 1) in Step S 203 , and the subject does not need to be assisted. Therefore, the assistance output unit  901  generates no assistance outputs. 
     In /Step S 1202 , the subject&#39;s standup ability is determined to be at the standup-unable level (level 4) in Step S 205 , and the subject cannot stand up unassisted. Therefore, the assistance output unit  901  generates a maximum assistance output. 
     In Step S 1203 , the assistance output unit  901  generates a small assistance output. This is because the subject cannot be considered as having sufficient standup ability if their buttocks contact the seat surface, and thus the subject is desirable to be assisted a little, regardless of whether or not they can later stand up by themselves. 
     In Step S 1204 , the assistance output unit  901  maintains the low assistance output if the subject&#39;s standup ability is determine in Step S 503  to be at intermediate level (level 2). 
     In Step S 1205 , the assistance output unit  901  increases the assistance output to an intermediate value if the subject&#39;s standup ability is determined in Step S 502  to be low level (level 3) and the subject is considered unable to stand up without assistance. Then, the standup assistance apparatus  900  according to the second embodiment stops its operation. 
     In accordance with any standup ability level determined, the assistance output may be set to a level lower than the ordinary value. In Step S 1204 , for example, no assistance output may be output, instead of the low assistance output. In Step S 1205 , the low assistance output may be output, instead of the intermediate assistance output. This helps the subject to enhance their standup ability through rehabilitation, etc. 
     According to the second embodiment described above, the assistance output is set to an appropriate value in accordance with the subject&#39;s determined standup ability. The second embodiment can therefore help the subject to stand up appropriately. Since the assistance output can be set to a value smaller than the value corresponding to the determined standup ability, the second embodiment can achieve rehabilitation effects, such as an increase in the subject&#39;s muscle strength. 
     The embodiments described above are designed to determine the subject&#39;s standup ability, assuming that the subject tries to stand up without touching anything. Nonetheless, these embodiments can be applied to the case where the subject is helped to stand up, while touching a wall, handrails, elbow rests, or the like. In this case, weight sensors may be embedded in the wall, handrails, or the like, and the sum of the outputs of the weight sensors may be used as the subject&#39;s center-of-gravity acceleration. 
     It is not absolutely necessary to assist the subject in real time in accordance with the determined standup ability. Rather, the determined standup ability may be utilized as the result of the rehabilitation conducted. 
     The flow charts of the embodiments illustrate methods and systems according to the embodiments. It will be understood that each block of the flowchart illustrations, and combinations of blocks in the flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be loaded onto a computer or other programmable apparatus to produce a machine, such that the instructions which execute on the computer or other programmable apparatus create means for implementing the functions specified in the flowchart block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable apparatus to function in a particular manner, such that the instruction stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks. The computer program instructions may also be loaded onto a computer or other programmable apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer programmable apparatus which provides steps for implementing the functions specified in the flowchart block or blocks. 
     While certain embodiments have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the inventions. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms; furthermore, various omissions, substitutions and changes in the form of the methods and systems described herein may be made without departing from the spirit of the inventions. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the inventions.