Figure 1

Experimental setup. Left: Participant stands up from an instrumented chair with the custom-made robot rollator simulator. Full-body passive markers for motion tracking and EMG electrodes (data not included in this article) were placed on the body. Two movements were studied: sit-to-stand and stand-to-sit. Middle column: Three different support conditions were used: unassisted (top, handles not used), light touch (middle, palm on the handles), and full support (bottom, power grip). Right column: Two floor conditions were used: non-challenging (lab floor, top) and challenging (balance pads, bottom).