The Inverse Dynamics Solutions of Arm-Free Standing for Paraplegics
نویسندگان
چکیده
In this paper, an application of the dynamics and control of redundant robotic systems is presented in order to investigate the feasibility of functional electrical stimulation assisted arm-free standing for paraplegics. Through the inverse dynamics analysis of a three dimensional dynamic model of quiet standing, several sets of the minimum number of degrees of freedom (DOF) such that there are unique torque inputs that generate desired kinematic outputs of the model were found. In addition, it was demonstrated that the proposed nonlinear dynamic model could achieve asymptotic stability with only six DOF out of twelve DOF, assuming the remaining six DOF are not actuated. Two controllers, proportional and derivative plus gravity compensation scheme and the computed torque control were proposed. Stability analysis and simulation results suggested that the dynamic redundancy of the biological bipedal stance system allows the selection of an ideal subset of DOF in a particular patient to design a neuroprosthesis for standing.
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