Synthesizing the sit-to-stand movement using fuzzy logic-based control and a simple biomechanical model
Date
2010-08-24T20:13:24Z
Authors
Prinz, Robert K.
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Abstract
This thesis puts forward a fuzzy logic-based control strategy for artificially reproducing the sit-to-stand movement. The aim of this work is to contribute to the machine intelligence being developed for advanced mobility support devices; and specifically, those which are able to assist the mobility impaired user with the sit-to-stand task. Three fuzzy logic controllers were designed. The first controller seeks to move the model into the “most stable” configuration. The second seeks to move the model toward the goal configuration (i.e., standing). And the third combines the output from the first two controllers to produce a unified control action. Each controller was implemented and tested in software using Mathwork’s Matlab(TM). The results of the software simulation were compared against motion capture data taken from a single healthy male test subject. The automated controller was shown to produce a movement very similar to the natural sit-to-stand movement.
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Keywords
fuzzy control, sit-to-stand