Forward Thrust Modelling and Control Optimization of Biped in 3D for Sit to Stand

Modelling of Biomechanical systems for human voluntary movements in 3D is an area with very broad range of applications. Human motions like sit to stand is one of the very basic movements that human being need to perform a large number of times in daily activities. In the work presented here, we are escalating our 3D bipedal research to develop forward thrust motion trajectories during sit to stand (STS) movements of biped in 3D. We have developed forward thrust reference trajectories for angular profiles. These profiles are the basis for sit to stand (STS) motion for the stroke patients. The model used in this study is the one in which one foot is fixed (healthy leg) and other is allowed 01 DOF linear movement (neurologically deficient leg). Afterwards the LQR based separate controller is designed for the forward thrust model. Rigid body bipedal model in 3D is designed in CAD software SOLIDWORKS Corp., whereas, model linearization is done in SIMSCAPE / SIMULINK. Afterwards, the optimal control for the system is developed in MATLAB / SIMULINK. The forward thrust model having 22
^nd
order and it is shown in the results that both healthy and paraplegic extremities follows the reference trajectories.