Abstract
Movement simulation is an important tool for better understanding human biomechanics. Associated with appropriate control techniques, mathematical models can simulate physiological responses, such as the closed-loop positioning of a limb. This work aims to design an optimized proportional-integral-derivative (PID), as well as a state feedback controller, using MATLAB to obtain a physiologically plausible elbow position setpoint response. The plant to be controlled is an OpenSim model appropriate for the forward dynamics analysis. Activation and muscle contraction coupled with arm rigid body dynamics were identified by linear models with an accuracy of 74.77% and 93.07% respectively. A MATLAB/OpenSim interface was adapted to run the forward dynamics simulations. PID controller has shown a good robustness, better rise time and zero steady-state error. State feedback controller yielded a smaller overshoot, with good responses for the other design criteria and, conceptually, is a more meaningful representation of the biological controllers than the PID.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
