DYNAMIC MODELING OF THE HUMAN LOWER LIMB INTERACTING WITH A PNEUMATIC ACTUATOR AND ITS PARAMETERS IDENTIFICATION FOR REHABILITATION

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

FATHI M.; NAJAFI F.

Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: Modares Mechanical Engineering Year:2014 | Volume:13 | Issue:13 Page(s): 200-213

Download Full-Text

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Persian Verion

View:

935

Download:

Cites:

Information Journal Paper

Title

DYNAMIC MODELING OF THE HUMAN LOWER LIMB INTERACTING WITH A PNEUMATIC ACTUATOR AND ITS PARAMETERS IDENTIFICATION FOR REHABILITATION

Author(s)

FATHI M. | NAJAFI F. | Issue Writer Certificate

Keywords

3 DOF LEG DYNAMIC MODELQ2

LINEARIZATIONQ2

IMPEDANCE CHARACTERISTICSQ2

PEM IDENTIFICATION METHODQ2

Abstract

Specifying of the dynamic behavior and IMPEDANCE CHARACTERISTICS determination of the patients’ lower limb is a necessity for interactions with rehabilitation set-up. In simple proposed models of previous researches, the effects of joint angles on the impedance properties of the leg were not considered and the parameters were identified by nonparametric methods. Hence, the results of identification were not so much appropriate to analyze the rehabilitation process. So, in this paper, a 3 DOF nonlinear dynamic model is developed regarding to the angular stiffness and damping of the lower limb joints and moment of inertia of its moving organs. Then, a linear model is presented to identify the parameters by PEM method. The LINEARIZATION and identification precisions are evaluated individually. The leg’s parameters are identified for 3 subjects with different mass numbers at four distinctive configurations which are considered during the walking. The identification accuracy is evaluated by comparison between the identified and geometrically estimated mass moment of inertia. Ultimately, the interaction performance of the patients’ leg with rehabilitation pneumatic actuator is investigated considering to leg rigidity and the amount of overweight. The results demonstrate good accuracy and high performance of the linear model for parameters identification.

Cites

No record.

References

No record.

Cite

APA: Copy

FATHI, M., & NAJAFI, F.. (2014). DYNAMIC MODELING OF THE HUMAN LOWER LIMB INTERACTING WITH A PNEUMATIC ACTUATOR AND ITS PARAMETERS IDENTIFICATION FOR REHABILITATION. MODARES MECHANICAL ENGINEERING, 13(13), 200-213. SID. https://sid.ir/paper/178408/en

Vancouver: Copy

FATHI M., NAJAFI F.. DYNAMIC MODELING OF THE HUMAN LOWER LIMB INTERACTING WITH A PNEUMATIC ACTUATOR AND ITS PARAMETERS IDENTIFICATION FOR REHABILITATION. MODARES MECHANICAL ENGINEERING[Internet]. 2014;13(13):200-213. Available from: https://sid.ir/paper/178408/en

IEEE: Copy

M. FATHI, and F. NAJAFI, “DYNAMIC MODELING OF THE HUMAN LOWER LIMB INTERACTING WITH A PNEUMATIC ACTUATOR AND ITS PARAMETERS IDENTIFICATION FOR REHABILITATION,” MODARES MECHANICAL ENGINEERING, vol. 13, no. 13, pp. 200–213, 2014, [Online]. Available: https://sid.ir/paper/178408/en

Related Journal Papers