Realization and Evaluation of 3D Bipedal Models for Human Voluntary Motion

Biomechanical modelling of human voluntary motion is a modern day area which deals with the motor control of various human intended motions. The human body exhibits very complex motion trajectories with a very high level of flexibility and possesses a very high degree of freedom (DOF). It is difficult to create a biomechanical model of the human body that can replicate various 3D physiological activities. In this study, we created a mathematical framework for investigating the sit-to-stand (STS) movement in humans using 3D biomechanical models. Various modelling schemes of human sit-to-stand (STS) motion are proposed with various physiological constraints present in the human body. Three different modelling schemes are realized to study the motion constraints on the rigid body model of human STS motion. Initially, a model of an 8-segment biped in 3D having 2 feet, 2 calf, 2 thigh, a pelvic and a HAT segment is developed in CAD software with three different configurations. These models are developed in SOLIDWORKS Corp. and then for control realization, these models are linearized in SIMSCAPE/SIMULINK and MATLAB. Controllability and observability Analysis of the developed system shows that the model with one foot fixed and another one degree of freedom has twelve states and is fully controllable and observable for controller design.