Author/Editor		Kamnik, R; Kuželički, J; Bajd, T
Title		Simulation model of robot supported standing-up in paraplegia
Type		članek
Source		Adv Comput Bioeng Ser
Vol. and No.		Letnik 7
Publication year		2003
Volume		str. 355-64
Language		eng
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 subject/robot dynamic interaction are incorporated. The equations of motion are derived by the help of SD/FAST 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 supported standing-up. The results proved the adequate and reliable performance of the simulation model.
Descriptors		PARAPLEGIA ROBOTICS COMPUTER SIMULATION GAIT