Development of a Fuzzy-Based Sit-to-Stand Controller

Rising from a seated position is one of the most mechanically demanding tasks undertaken during daily activities, and for individuals with a mobility impairment, it can be an impossible one. For decades, traditional orthoses (i.e., braces) have been used to restrict undesired motion. With the advent of powered orthoses, came the ability to not only restrict undesired motion, but also to actively promote proper posture and movement. This work presents a fuzzy-based controller designed to guide the wearer of a powered orthosis through the sit-to-stand (STS) movement. Simulations are presented for two variations of the momentum-transfer STS strategy. Simulation results are also presented for balance recovery scenarios.