Simulation of a patient driven strategy for FES supported sit-to-stand movement

A comprehensive research has been undertaken to simulate a model based on the functional electrical stimulation (FES), the only method to stimulate the paralyzed muscles of paraplegics. The simulation of sit-to-stand (STS) movement using a patient driven technique has been presented in this paper. The strategy is to use the voluntary body effort of the patient to perform the STS movement. The main tasks are mathematical modeling of a three link biomechanical model, development of a humanoid model, development of an inverse model to estimate the joint torques and designing a controller for the controlled movement of the system. The humanoid model has been designed in Visual Nastran software. Neural Network has been used to develop the inverse model while a PID (Proportional-Integral-derivative) controller has been used in Matlab/Simulink to simulate the movement.