A sit-to-stand assist device can serve the needs of people suffering from muscle weakness due to age or disabilities that make sit-to-stand a difficult functional task. The objective of this paper is to design a passive gravity-balancing assist device for sit-to-stand motion. In our study, it has been shown that the contribution to the joint torques by the gravitational torque is dominant during sit-to-stand motion. On the basis of this result, a gravity balanced assistive device is proposed. This passive device uses a hybrid method to identify the center-of-mass of the system using auxiliary parallelograms first. Next, appropriate springs are connected to the device to make the total potential energy of the system due to the gravity and the springs constant during standing up. A demonstration prototype with the underlying principles was fabricated to test the feasibility of the proposed design. The prototype showed gravity balancing and was tested by the authors. This prototype will be modified appropriately for clinical testing.

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