Affiliation:
1. University of Arkansas at Little Rock, 2801 S. University Avenue, ETAS 383B, Little Rock, AR 72204
Abstract
Human voluntary movements are complex physical phenomena due to the complex control mechanism for coordination of limbs in the presence of physiological constraints. In this study, we propose a nonlinear human bipedal model with thirteen generalized coordinates to model sit-to-stand (STS) transfer. The model has three position based holonomic constraints and at the first stage, we decouple the translational variables (constrained system) from rotational variables (unconstrained systems). The unconstrained rotational degrees consist of seven sagittal and three frontal plane angles, which are controlled through their respective joint torques. We further decouple these angles in sagittal and frontal plane systems for a better control strategy. In this scheme, there are three decoupled controllers working together to stabilize the nonlinear model for a STS maneuver while satisfying the holonomic constraints. We adopt H∞ and H2 controller designs for feedback torques in sagittal and frontal planes, respectively, and provide simulation results to show the improvement in the angular profiles. We further adopt this modeling strategy to study and analyze the neuromuscular disorders by decoupling healthy and neurodeficient extremities. Our study indicates that the decoupling of the bipedal model improves the controllability of the system and produces better angular profiles for a bipedal STS maneuver. This modeling scheme is useful for analysis of neuromuscular disorders and other relevant physiological motor control models.
Subject
Physiology (medical),Biomedical Engineering
Cited by
10 articles.
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1. Decoupled optimal control of 3D biped for human voluntary motion;Biomedical Physics & Engineering Express;2024-01-31
2. Forward Thrust Modelling and Control Optimization of Biped in 3D for Sit to Stand;2023 2nd International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE);2023-11-27
3. Sliding Tilt Forward Thrust Model and Control Realization for Human Voluntary Motion;2023 2nd International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE);2023-11-27
4. 3D Twist and Tilt Bipedal Model and Control Realization for Sit to Stand;2023 25th International Multitopic Conference (INMIC);2023-11-17
5. Modelling and Optimal Control of Human Voluntary Motion in 3D for Bipedal;2022 International Conference on Emerging Trends in Electrical, Control, and Telecommunication Engineering (ETECTE);2022-12-02