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Cartesian Control of Sit-to-Stand Motion Using Head Position Feedback
Joint Authors
Mahmood, A.
Rafique, Samina
Najam-ul-Islam, M.
Shafique, M.
Source
Applied Bionics and Biomechanics
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-21
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
Sit-to-stand (STS) motion is an indicator of an individual’s physical independence and well-being.
Determination of various variables that contribute to the execution and control of STS motion is an active area of research.
In this study, we evaluate the clinical hypothesis that besides numerous other factors, the central nervous system (CNS) controls STS motion by tracking a prelearned head position trajectory.
Motivated by the evidence for a task-oriented encoding of motion by the CNS, we adopt a robotic approach for the synthesis of STS motion and propose this scheme as a solution to this hypothesis.
We propose an analytical biomechanical human CNS modeling framework where the head position trajectory defines the high-level task control variable.
The motion control is divided into low-level task generation and motor execution phases.
We model CNS as STS controller and its Estimator subsystem plans joint trajectories to perform the low-level task.
The motor execution is done through the Cartesian controller subsystem that generates torque commands to the joints.
We do extensive motion and force capture experiments on human subjects to validate our analytical modeling scheme.
We first scale our biomechanical model to match the anthropometry of the subjects.
We do dynamic motion reconstruction through the control of simulated custom human CNS models to follow the captured head position trajectories in real time.
We perform kinematic and kinetic analyses and comparison of experimental and simulated motions.
For head position trajectories, root mean square (RMS) errors are 0.0118 m in horizontal and 0.0315 m in vertical directions.
Errors in angle estimates are 0.55 rad, 0.93 rad, 0.59 rad, and 0.0442 rad for ankle, knee, hip, and head orientation, respectively.
RMS error of ground reaction force (GRF) is 50.26 N, and the correlation between ground reaction torque and the support moment is 0.72.
Low errors in our results validate (1) the reliability of motion/force capture methods and anthropometric technique for customization of human models and (2) high-level task control framework and human CNS modeling as a solution to the hypothesis.
Accurate modeling and detailed understanding of human motion can have significant scope in the fields of rehabilitation, humanoid robotics, and virtual characters’ motion planning based on high-level task control schemes.
American Psychological Association (APA)
Rafique, Samina& Najam-ul-Islam, M.& Shafique, M.& Mahmood, A.. 2020. Cartesian Control of Sit-to-Stand Motion Using Head Position Feedback. Applied Bionics and Biomechanics،Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1120086
Modern Language Association (MLA)
Rafique, Samina…[et al.]. Cartesian Control of Sit-to-Stand Motion Using Head Position Feedback. Applied Bionics and Biomechanics No. 2020 (2020), pp.1-13.
https://search.emarefa.net/detail/BIM-1120086
American Medical Association (AMA)
Rafique, Samina& Najam-ul-Islam, M.& Shafique, M.& Mahmood, A.. Cartesian Control of Sit-to-Stand Motion Using Head Position Feedback. Applied Bionics and Biomechanics. 2020. Vol. 2020, no. 2020, pp.1-13.
https://search.emarefa.net/detail/BIM-1120086
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1120086