# Current Status and Consideration of Support/Care Robots for Stand-Up Motion
## 3 Results
### Functions and Effects
#### 3.1.2 Total Assistance
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Year**} & **First Author** & **Assist System** & **Assist Level** & \multirow{2}{*}{**Function**} & **Effect** & **Reference** \\ \hline \multirow{4}{*}{2012} & \multirow{4}{*}{[PERSON]} & \multirow{4}{*}{L/W} & \multirow{4}{*}{P} & Combined with functional & \multirow{4}{*}{Floor reaction force was} & \multirow{4}{*}{[48]} \\  & & & electrical stimulation. & & & \\  & & & STS assistance that does not & & significantly reduced. & \\  & & & require the user’s upper & & & \\  & & & limb muscle strength. & & & \\ \hline \multirow{4}{*}{2013} & \multirow{4}{*}{[PERSON]} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & Natural STS guide with a & \multirow{4}{*}{Holog chair-type device.} & Floor reaction force and & \multirow{4}{*}{[49]} \\  & & & & & muscle activity decreased. & \\  & & & folding chair-type device. & High similarity of movement & & \\  & & & & patterns was observed. & & \\ \hline \multirow{4}{*}{2016} & \multirow{4}{*}{Fraiszudeen} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & Seat-off assistance with & \multirow{4}{*}{Raised the seat to 45 degrees} & \multirow{4}{*}{[50]} \\  & & & pneumatic actuators. & & & 200 N. & \\ \hline \multirow{4}{*}{2017} & \multirow{4}{*}{Dong} & \multirow{4}{*}{L/W} & \multirow{4}{*}{P} & Assisting the natural STS & \multirow{4}{*}{ND} & \multirow{4}{*}{[51]} \\  & & & trajectory. & & & \\ \hline \multirow{4}{*}{2018} & \multirow{4}{*}{Sogo} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & Use only passive actuator. & Maximum hip and knee & \multirow{4}{*}{[52]} \\  & & & Seat-off assistance with & & torque reduced significantly & \\  & & & gas springs. & during seat-off. & \\ \hline \multirow{4}{*}{2011} & \multirow{4}{*}{Bae} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & Adjust the height and angle of the seat to make & The higher the seating & \multirow{4}{*}{[53]} \\  & & & & & surface, the less rectus & \\  & & & & of the seat to make & & \\  & & & seat-off easier. & & & \\  & & & & seat-off easier. & & \\ \hline \multirow{4}{*}{2017} & \multirow{4}{*}{Suzuki} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & STS assistance by constant & \multirow{4}{*}{Maximum floor reaction} & \multirow{4}{*}{[54]} \\  & & & & speed seat rotation. & & \\  & & & Seat-off assistance reduces & & & force significantly reduced. & \\  & & & & the lower limbs. & & \\ \hline \multirow{4}{*}{2014} & \multirow{4}{*}{Lu} & \multirow{4}{*}{C} & \multirow{4}{*}{P} & STS motion estimation by & \multirow{4}{*}{ND} & \multirow{4}{*}{[55]} \\  & & & & COP pattern recognition. & & \\ \cline{1-1}  & & & Seat-off assistance by & & & \\ \cline{1-1}  & & & & changing the angle and & & \\ \cline{1-1}  & & & height of the seat surface & & & \\ \hline \multirow{4}{*}{2011} & \multirow{4}{*}{An} & \multirow{4}{*}{H} & \multirow{4}{*}{P} & Handrail that moves & \multirow{4}{*}{ND} & \multirow{4}{*}{[56]} \\ \cline{1-1}  & & & & horizontally/vertically in & & \\ \cline{1-1}  & & & coordination with the lower & & \\ \cline{1-1}  & & & limb joint angle. & & \\ \hline \hline \end{tabular} ND: No description; P: Partial assistance; T: Total assistance; C: Chair; \(\&\) S: Sling; LW: Leaning-on/Walker; H: Handle.  
\end{table} 
Table 2: Cont. paper, the patient first uses the robot in the sitting position and then shifts to the standing position by extending the lower limbs while keeping the buttocks in contact with the seating surface. The robot lifts 99% of its body weight and reduces the strain on the lower limbs.