Synthesis of Angular Profiles for Bipedal Sit-to-Stand Movement

Human voluntary motion exhibits complex and nonlinear movement profiles. Many physiologists have studied human sit-to-stand (STS) task for healthy subjects and patients, and collected data for joints angular profiles. In this study, we synthesize some the data to a linear reference model. This reference model thus provides a basis to generate an ideal angular profile for sit to stand task. We use these reference angular profiles to simulate the STS movement with feedback controller. Our simulation shows that these reference angular profiles provide physiological relevant model to use with feedback controller design for analysis of STS movement.