Synthesizing the Sit-to-stand Movement Using Fuzzy Logic and a Simple Biomechanical Model

Abstract

In this paper, the sit-to-stand movement was artificially reproduced using a fuzzy-logic based control strategy and a simple biomechanical model . Not for the purpose of exactly replicating a healthy individual’s movement, but rather for the purpose of directing an assistive device which might guide the mobility impaired individual through the sit-to-stand process. An explicit set of movement trajectories was not used in the movement planning process; instead, stability and goal-driven controllers provided the necessary motion directive. This approach resulted in a slow and controlled sit-to-stand movement.