Estimation of Joint Torque and Power Consumption During Sit-to-Stand Motion of Human-being Using a Genetic Algorithm

Abstract

A model of human lower limb along with body has been drawn having a presumed body height and body mass index. Different ranges of joint angles of human legs and body have been taken to simulate the sit-to-stand motion. The kinematic analysis is done by varying joint angles over time. The dynamic studies have been carried out for different joints. Torque and power consumption have been calculated. Using a genetic algorithm, optimal solutions for joint torque and power consumption have been obtained. The dynamic balance of human body system during sit-to-stand motion has also been maintained while carrying out the optimization. Another attempt has been made in order to get optimum torque and power consumption in minimum time by treating it as a multi-objective optimization problem. Thus, a Pareto-optimal front of solutions has been obtained.