An exoskeleton user can now go from sitting to standing safely and without assistance based on the work of University of Michigan researchers, who developed a new approach to create and test solutions to such problems virtually.
“We now have a way to systematically design control objectives for highly constrained systems such that the objectives are not in conflict with the contact constraints,” said Eva Mungai, a PhD candidate in Mechanical Engineering.
The paper, “Feedback Control Design for Robust Comfortable Sit-to-Stand Motions of 3D Lower-Limb Exoskeletons,” is published in IEEE Access.
Similar research on the sit-to-stand activity is often done with a simplified model due to the complexity that three dimensions introduces. That work focuses on the sagittal plane, the X-axis of the sit-to-stand problem, while Mungai’s work incorporates sagittal, frontal, and transverse planes, or X, Y, and Z-axes.Continue reading ⇒