Author(s)

R. Kamnik, J. Kuželički & T. Bajd

Abstract

Simulation model of robot supported standing-up in paraplegia R. Kamnik, J. KuieliEki & T. Bajd University of Ljubljana Faculty of Electrical Engineering TriaSka 25, 1000 Ljubljana, Slovenia Abstract For the standing-up rehabilitation, a robot assistive device is proposed to provide support for impaired individuals when rising from a sitting to a standing position. In this paper, a simulation model of the robot supported standing-up of paraplegic subject is presented. The simulation model describes the behaviour of a human body during rising when interacting with an active device. In the model, the voluntary activity of the upper body, the visco-elastic properties of paralyzed lower extremities and the subjectlrobot dynamic interaction are incorporated. The equations of motion are derived by the help of SDIFAST software package, while the model was implemented in the Matlab-Simulink simulation environment. The simulation results were evaluated with the measurement results of a real robot suppo

Keywords