Dynamic simulation of sit to stand exercise for paraplegia

Author

Bakar, Norazhar Abu ; Abdullah, Abdul Rahim

Author_Institution

Fac. of Electr. Eng., Univ. Teknikal Malaysia Melaka, Ayer Keroh, Malaysia

fYear

2011

fDate

25-27 Nov. 2011

Firstpage

114

Lastpage

118

Abstract

This paper describes on developing a dynamic humanoid model of sit-to-stand (STS) movement. Visual Nastran software is used to develop a humanoid model, while the humanoid movement is controlled by MATLAB/Simulink to perform sit-to-stand activity. Two control strategies are implemented in this study, which are PID controller and fuzzy logic control (FLC). The results produced by both controllers are compared. The torque applied at each joint during STS movement is investigated. Results show both controller can be used in order to control humanoid model movement, but with FLC, the error between desired trajectory and actual has been reduced.

Keywords

control engineering computing; fuzzy control; gait analysis; medical computing; medical control systems; medical disorders; three-term control; MATLAB; PID controller; Simulink; Visual Nastran software; dynamic humanoid model; fuzzy logic control; humanoid movement; paraplegia; sit-to-stand exercise; Hip; Joints; Mathematical model; Torque; Trajectory; Visualization; Fuzzy Logic Control (FLC); PID; Sit-to-Stand;

fLanguage

English

Publisher

ieee

Conference_Titel

Control System, Computing and Engineering (ICCSCE), 2011 IEEE International Conference on

Conference_Location

Penang

Print_ISBN

978-1-4577-1640-9

Type

conf

DOI

10.1109/ICCSCE.2011.6190506

Filename

6190506