Sensitivity Analysis of Knee Joint Motion

Biomechanics is a recent entry in the research area which provided lots of solutions for sports injuries and increasing age injuries. The mathematical model of the knee joint is nonlinear but most of our tools and techniques are valid for a linear system. Taylor series approximation is used to linearize the nonlinear mathematical model of the knee joint. In the open-loop condition transfer function of the knee joint cannot give appropriate results. A feedback controller is required for the regulation of shank movement around the knee joint to varying the torque. Another feature is added in this work i.e., sensitivity analysis. Sensitivity analysis exhibits the robustness of the controller against plant uncertainty and disturbances. This paper exhibit an internal model control (IMC) based PID controller and compare their results with the PSO-PID controller. The objective of this paper is to examine the efficacy of the IMC PID and PSO-PID Controller via stability sensitivity for knee joint motion. Comparing their characteristics in terms of IAE and ISE performance indices.