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Adaptive control of human posture in a specific movement

سال انتشار: 1394
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 623

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شناسه ملی سند علمی:

KBEI02_081

تاریخ نمایه سازی: 5 بهمن 1395

چکیده مقاله Adaptive control of human posture in a specific movement

Human posture control is a complex issue in biomechanics. Human body is unstable without any controller. The stabilization of the body is achieved by the activation of the muscles and creating the joint torques. In this paper, human body in upright standing position has been modeled using an inverted double pendulum. Since the body parameters are different among the individuals, it is assumed that these parameters are not known exactly and are uncertain. An adaptive controller based on the inverse dynamics in addition to parameter adaptation law has been designed. The simulation of the system using this controller shows the effectiveness of the proposed method in controlling the human posture.

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نویسندگان مقاله Adaptive control of human posture in a specific movement

Seyyed Arash Seyyed Arash

School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran

Fatemeh Haghpanah

School of Computer and Electrical Engineering Yazd University Yazd, Iran

Alireza Faghihi

School of Biomedical Engineering Islamic Azad University, Science and Research Branch Tehran, Iran