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Dynamic simulation of sit to stand exercise for paraplegia
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. © 2011 IEEE.
Proceedings - 2011 IEEE International Conference on Control System, Computing and Engineering, ICCSCE 2011
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