LMI based physiological cost optimization for biomechanical STS transfer

Human biomechanical Sit-to-stand (STS) movement is a complex physiological task which requires movement coordination, balance and skillful termination. In previous studies we proposed the STS movement with different control strategies for physiologically relevant and optimized movements. These control techniques allowedus to optimize control systems designs for cost and robust performance. In this paper we used a four link biomechanical model with mixed H₂/H_∞ control theory for STS transfer. We solved a biomechanical control problem with Linear Matrix Inequalities (LMI) for better physiological results by optimizing cost and bounds. Introducing LMIs for STS transfer provides a diverse perspective to physiological understand the movement. We compared these results with previous studies for H₂ and H_∞ control problems, and discussed the validity of LMI for human STS problem. Our simulation results shows that the biomechanical model with LMI control will provide a robust framework to analyze STS movement with physiological relevant control objectives.