Publication
Title
Towards a controlled orthosis for sit-to-stand support in independently living elderly : model development
Author
Abstract
Sit-to-stand (STS) movements are a daily challenge for independently living elderly. Literature shows a keen interest in using active orthoses to mitigate this problem. However, to design and test advanced control strategies for proof-of-concept orthoses, a validated model of the STS movement is missing. This work presents and elaborates on a model of the kinematics of the lower limb in combination with a human policy which represents the brain-muscle interaction. The model parameters are derived from both healthy and elderly patients. The applicability of the model is investigated by applying two popular control methods for active orthoses: gravity compensation and a control-based method. First, the results show model validation using measured in vivo joint torques from literature and, second, that both methods can be simulated using the developed STS model. This allows for optimizing and testing advanced control strategies in future work.Copyright (c) 2023 The Authors.
Language
English
Source (journal)
IFAC-PapersOnLine
Source (book)
22nd World Congress of the International Federation of Automatic Control, (IFAC), JUL 09-14, 2023, Yokohama, Japan
Publication
Amsterdam : Elsevier , 2023
ISSN
24058963
DOI
10.1016/J.IFACOL.2023.10.861
Volume/pages
56 :2 (2023) , p. 6471-6476
ISI
001122557300035
Full text (Publisher's DOI)
Full text (open access)
UAntwerpen
Faculty/Department
Research group
Publication type
Subject
Affiliation
Publications with a UAntwerp address
External links
Web of Science
Record
Identifier
Creation 02.05.2024
Last edited 08.05.2024
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