  -This article presents clinical results from the use of MONIMAD, a reactive
robotized interface for lower limb Rehabilitation of patients suffering from
cerebellar disease. The first problem to be addressed is the postural analysis
of sit-to-stand motion. Experiments with healthy subjects were performed for
this purpose. Analysis of external forces shows that sit-to-stand transfer can
be subdivided into several phases: preaccel-eration, acceleration, start
rising, rising. Observation of Center of Pressure, ground forces and horizontal
components force on handles yields rules to identify the stability of the
patient and to adjust the robotic interface motion to the human voluntary
movement. These rules are used in a fuzzy-based controller implementation. The
controller is validated on experiments with diseased patients in Bellan
Hospital.
