Modeling and simulation of sit-to-stand exercise

Sit-to-stand, (SiSt) exercise is an exercise which is simple and easy to be implemented. A seesaw is an example of basic mechanism which is able to assist a person, especially paraplegic to perform the exercise. Understanding the dynamics of motion would beneficial to rehabilitation engineering field which is a study to improve the quality life of disability people. This study presents a dynamic simulation of humanoid model performing sit-to-stand (SiSt) exercise. The main goals of this project are; the development of humanoid model with seesaw exercise machine, and the development of controller for controlled movement of the system. To achieve this, a humanoid model with seesaw mechanism have been designed in Visual Nastran software, while a closed loop system with PD, (proportional-plus-derivative) controllers that track desired reference input have been implemented by Matlab/Simulink. Here, both software packages (Visual Nastran and Matlab/Simulink) have been integrated in order to produce the simulation of humanoid motion. The simulation result of humanoid model performing SiSt mode with seesaw mechanism proved the developed models and the designed controller are able to perform and function as desired before will be implemented into FES application.