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Anthropomorphic hands are currently generating significant amount of interest for their variety of use, such as bionic hands in active prostheses applications, robotic grippers for remote applications as well as assisting tremor free surgical operations. Modeling of a human hand is an intricate process due to complex shapes of fingers and phalanges flexibility of the muscles. Movement coordination...
Sit-to-stand (STS) movement is a common human task which involves combination of a musculoskeletal structure integrated with neural control. We present a conceptual 3D bipedal nonlinear model for STS task with optimal controller design for exoskeleton torques. This model has 7 sagittal plane angles, 3 frontal plane angles, and 3 foot translational variables with 3 position based holonomic constraints...
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