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A comprehensive research has been undertaken to simulate a model based on the functional electrical stimulation (FES), the only method to stimulate the paralyzed muscles of paraplegics. The simulation of sit-to-stand (STS) movement using a patient driven technique has been presented in this paper. The strategy is to use the voluntary body effort of the patient to perform the STS movement. The main...
We present the development of a 3D bipedal robotic model with thirteen generalized coordinates, and decoupled optimal controller design for the control of biomechanical sit-to-stand (STS) transfer. The non-linear model developed in Maple DynaFlexPro environment has three frontal and seven sagittal degrees of freedom (DOF). Three holonomic constraints ensure stationary foot placement during performance...
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