Simulation of Antagonistic Muscle Actions Through the Use of Sliding-Mode Control Techniques
| Authors: | Spurgeon Sarah, University of Leicester, United Kingdom
Lister S. J., University of Leicester, United Kingdom
Scott J. A., University of Leicester, United Kingdom
Jones N. B., University of Leicester, United Kingdom |
|---|
| Topic: | 8.2 Modelling & Control of Biomedical Systems |
|---|
| Session: | Control Application to Life Medicine II |
|---|
| Keywords: | Biomechanics, Sliding-mode control, Human gait, Simulation,antagonism |
|---|
Abstract
A sliding-mode controller is applied to a two-dimensional, ten-segment human locomotor system model in order to track kinematic gait samples. Motion tracking is performed to within 2 degrees of the references for the mean of ten samples with driving moments typically within 2 standard deviations of the expected values. The use of sliding-mode techniques also produces antagonistic muscle activity at periods similar to those measured from experimental subjects.
