Sliding Tilt Forward Thrust Model and Control Realization for Human Voluntary Motion

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 3D Tilt model with forward thrust motion trajectories during sit to stand (STS) of biped. This research enables us to develop reference trajectories for velocities of each joint of Sliding Tilt model. These profiles are the basis for sit to stand (STS) motion profiles for the stroke patients. The developed Sliding Tilt forward thrust model is compared with the zero velocity linear model in order to efficiently model the STS behavior of Stroke patient. The Controllability and Observability investigation of the constructed systems presents that the model, which incorporates sliding tilt with forward thrust is both full rank controllable and observable, hence making it suitable for controller design.