Human voluntary movements are complex physical phenomena due to the complex control mechanism for coordination of limbs in the presence of physiological constraints. In this study, we propose a nonlinear human bipedal model with thirteen generalized coordinates to model sit-to-stand (STS) transfer. The model has three position based holonomic constraints and at the first stage, we decouple the translational variables (constrained system) from rotational variables (unconstrained systems). The unconstrained rotational degrees consist of seven sagittal and three frontal plane angles, which are controlled through their respective joint torques. We further decouple these angles in sagittal and frontal plane systems for a better control strategy. In this scheme, there are three decoupled controllers working together to stabilize the nonlinear model for a STS maneuver while satisfying the holonomic constraints. We adopt and controller designs for feedback torques in sagittal and frontal planes, respectively, and provide simulation results to show the improvement in the angular profiles. We further adopt this modeling strategy to study and analyze the neuromuscular disorders by decoupling healthy and neurodeficient extremities. Our study indicates that the decoupling of the bipedal model improves the controllability of the system and produces better angular profiles for a bipedal STS maneuver. This modeling scheme is useful for analysis of neuromuscular disorders and other relevant physiological motor control models.
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asifmahmoodmughal@gmail.com
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April 2010
Research Papers
3D Bipedal Model With Holonomic Constraints for the Decoupled Optimal Controller Design of the Biomechanical Sit-to-Stand Maneuver
Asif Mughal,
asifmahmoodmughal@gmail.com
Asif Mughal
University of Arkansas at Little Rock
, 2801 S. University Avenue, ETAS 383B, Little Rock, AR 72204
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Kamran Iqbal
kxiqbal@ualr.edu
Kamran Iqbal
University of Arkansas at Little Rock
, 2801 S. University Avenue, ETAS 383B, Little Rock, AR 72204
Search for other works by this author on:
Asif Mughal
University of Arkansas at Little Rock
, 2801 S. University Avenue, ETAS 383B, Little Rock, AR 72204asifmahmoodmughal@gmail.com
Kamran Iqbal
University of Arkansas at Little Rock
, 2801 S. University Avenue, ETAS 383B, Little Rock, AR 72204kxiqbal@ualr.edu
J Biomech Eng. Apr 2010, 132(4): 041010 (9 pages)
Published Online: March 19, 2010
Article history
Received:
May 23, 2008
Revised:
September 28, 2009
Posted:
January 13, 2010
Published:
March 19, 2010
Online:
March 19, 2010
Citation
Mughal, A., and Iqbal, K. (March 19, 2010). "3D Bipedal Model With Holonomic Constraints for the Decoupled Optimal Controller Design of the Biomechanical Sit-to-Stand Maneuver." ASME. J Biomech Eng. April 2010; 132(4): 041010. https://doi.org/10.1115/1.4000992
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