Simulation Model Of Robot Supported Standing-up In Paraplegia
Author(s)
R. Kamnik, J. Kuželički & T. Bajd
Abstract
Simulation model of robot supported
standing-up in paraplegia
R. Kamnik, J. KuieliEki & T. Bajd
University of Ljubljana
Faculty of Electrical Engineering
TriaSka 25, 1000 Ljubljana, Slovenia
Abstract
For the standing-up rehabilitation, a robot assistive device is proposed to provide
support for impaired individuals when rising from a sitting to a standing position.
In this paper, a simulation model of the robot supported standing-up of paraplegic
subject is presented. The simulation model describes the behaviour of a
human body during rising when interacting with an active device. In the model,
the voluntary activity of the upper body, the visco-elastic properties of paralyzed
lower extremities and the subjectlrobot dynamic interaction are incorporated. The
equations of motion are derived by the help of SDIFAST software package, while
the model was implemented in the Matlab-Simulink simulation environment. The
simulation results were evaluated with the measurement results of a real robot suppo
Keywords
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