Design of MATLAB/OpenSim elbow flexion angular setpoint controller

Página do item simplificado
dc.contributor.authorPINHEIRO, W. C.
dc.contributor.authorCastro, M.C.F.
dc.contributor.authorMENEGALDO, L. L.
dc.contributor.authorOrcidhttps://orcid.org/0000-0002-2751-0014
dc.date.accessioned2022-01-12T21:56:48Z
dc.date.available2022-01-12T21:56:48Z
dc.date.issued2019
dc.description.abstract© 2019, Springer Nature Singapore Pte Ltd.Movement simulation is an important tool for better understanding human biomechanics. Associated with appropriate control techniques, mathematical models can simulate physiological responses, such as the closed-loop positioning of a limb. This work aims to design an optimized proportional-integral-derivative (PID), as well as a state feedback controller, using MATLAB to obtain a physiologically plausible elbow position setpoint response. The plant to be controlled is an OpenSim model appropriate for the forward dynamics analysis. Activation and muscle contraction coupled with arm rigid body dynamics were identified by linear models with an accuracy of 74.77% and 93.07% respectively. A MATLAB/OpenSim interface was adapted to run the forward dynamics simulations. PID controller has shown a good robustness, better rise time and zero steady-state error. State feedback controller yielded a smaller overshoot, with good responses for the other design criteria and, conceptually, is a more meaningful representation of the biological controllers than the PID.
dc.description.firstpage167
dc.description.issuenumber1
dc.description.lastpage174
dc.description.volume70
dc.identifier.citationPINHEIRO, W. C.; CASTRO, M. C. F.; MENEGALDO, L. L. Design of MATLAB/OpenSim elbow flexion angular setpoint controller. IFMBE Proceedings, v. 70, n. 1, p. 167-174, 2019.
dc.identifier.doi10.1007/978-981-13-2119-1_26
dc.identifier.issn1433-9277
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3749
dc.relation.ispartofIFMBE Proceedings
dc.rightsAcesso Restrito
dc.subject.otherlanguageControl theory
dc.subject.otherlanguageForward dynamics
dc.subject.otherlanguageMATLAB
dc.subject.otherlanguageOpenSim
dc.titleDesign of MATLAB/OpenSim elbow flexion angular setpoint controller
dc.typeArtigo de evento
fei.scopus.citations0
fei.scopus.eid2-s2.0-85067544904
fei.scopus.subjectForward dynamic
fei.scopus.subjectForward dynamics simulation
fei.scopus.subjectMovement Simulation
fei.scopus.subjectOpenSim
fei.scopus.subjectPhysiological response
fei.scopus.subjectProportional integral derivatives
fei.scopus.subjectState feedback controller
fei.scopus.subjectZero steady state error
fei.scopus.updated2023-12-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85067544904&origin=inward
Arquivos
Coleções
Artigos