# Current Status and Consideration of Support/Care Robots for Stand-Up Motion
## 3 Results
### Assist Form and Control
#### 3.2.1. Assistance System  
The assistance system of robots for STS and walking motion is roughly classified into two types--\"wearable\" or \"not wearable\" by the user--depending on the type of robot \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Year**} & **First Author** & **Type** & **ACT** & **Control Strategy** & **System** & **Reference** \\ \hline
2018 & [PERSON] & W & Motor & Position & ND & [26] \\ \hline
2014 & Onen & W & Motor & Position & MIMO & [27] \\ \hline
2019 & Vantilt & W & Motor & \(\mathrm{P/F}\) & SISO & [28] \\ \hline
2015 & Park & W & Motor & Position & SISO & [29] \\ \hline
2018 & [PERSON] & W & Motor & ND & ND & [30] \\ \hline
2016 & Asselin & W & Motor & \(\mathrm{ND}\) & ND & [31] \\ \hline
2017 & [PERSON] & W & Motor & Position & SISO & [32] \\ \hline
2019 & [PERSON] & W & Motor & Force & SISO & [33] \\ \hline
2018 & [PERSON] & W & G-spring & Less & Less & [34] \\ \hline
2012 & [PERSON] & W & Motor & Position & MIMO & [35] \\ \hline
2014 & [PERSON] & W & L-ACT & Force & SISO & [36] \\ \hline
2018 & [PERSON] & W & Motor & \(\mathrm{ND}\) & ND & [37] \\ \hline
2018 & [PERSON] & W & Motor & \(\mathrm{ND}\) & ND & [38] \\ \hline
2015 & Hoang & NW & L-ACT & Position & SISO & [39] \\ \hline
2015 & Tsusaka & NW & Motor & \(\mathrm{P/F}\) & SISO & [40] \\ \hline
2012 & Salah & NW & Motor & Position & MIMO & [41] \\ \hline
2015 & Asker & NW & ACT & Position & SISO & [42] \\ \hline
2011 & Saint- & Bauzel & NW & H-ACT & \(\mathrm{P/F}\) & SISO & [43] \\ \hline
2013 & Yuk & NW & L-ACT & ND & ND & [44] \\ \hline
2011 & Carrera & NW & Motor & ND & ND & [45] \\ \hline
2010 & NANGO & NW & Mechanism & Less & Less & [46] \\ \hline
2012 & Morita & NW & Motor & \(\mathrm{P/F}\) & SISO & [47] \\ \hline
2012 & Bulea & NW & G-spring & Less & Less & [48] \\ \hline
2016 & Matjacic & NW & Motor & Position & SISO & [49] \\ \hline
2016 & Fraiszud- & \multirow{2}{*}{NW} & \multirow{2}{*}{P-ACT} & \multirow{2}{*}{Position} & \multirow{2}{*}{SISO} & [50] \\  & & & & & & \\ \hline
2017 & Dong & NW & L-ACT & Position & SISO & [51] \\ \hline
2018 & Sogo & NW & G-spring & Less & Less & [52] \\ \hline
2011 & Bae & NW & L-ACT & \(\mathrm{G-spring}\) & \(\mathrm{ON/OFF}\) & SISO & [53] \\ \hline
2017 & Suzuki & NW & Motor & \(\mathrm{ON/OFF}\) & SISO & [54] \\ \hline
2014 & Lu & NW & L-ACT & Position & SISO & [55] \\ \hline
2011 & An & NW & L-ACT & Position & SISO & [56] \\ \hline \hline \end{tabular}  
* \(\mathrm{Type}\)—W: Wearable, NW: Non-Wearable; ACT—L-ACT: Linear actuator, H-ACT: Hydraulic actuator; Control strategy—P/F: Position and force control switching, Less: No control, ND: No description.  
\end{table} 
Table 3: \(Cont.\)used and the support motion. In addition, STS assistance systems of the non-wearable type can be mainly subdivided into four types (Figure 2). The chair type [58] has a raised or inclined seating surface to convey the force to the buttocks of the user. In the sling type [59], a manipulator raises the trunk through a cable or a belt. In the leaning-on type (including walker type) [60; 61], part of the body weight is rested on the support arm, and the support arm lifts the body. The handle type [62] reduces the load on the lower limb when the user grasps the handrail provided on a toilet bowl, chair, or bed, partially bearing their weight. The breakdown of these assistance methods is summarized in Figure 3.  
An example of assistance in a wearable configuration is \"E-ROWA\" from [PERSON] et al. [23]. E-ROWA is a lower extremity skeletal robot with controllers, drivers, and batteries on its back and four actuators at the hip and knee joints. It has a control system that estimates the torque generated using an encoder at the hip joint and knee joint of the wearer and a floor reaction force sensor at the shoe sole without using an expensive force/torque sensor or an electromyogram sensor, which are easily influenced by external factors, and it can partially provide the joint torque required for STS by a wearer. On the other hand, [PERSON] et al.