High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.

Sit-to-stand movement (STS) is a mundane activity, controlled by the central-nervous-system (CNS) via a complex neurophysiological mechanism that involves coordination of limbs for successful execution. Detailed analysis and accurate simulations of STS task have significant importance in clinical in...

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Autores principales:	Nadia Sultan, Asif Mahmood Mughal, Muhammad Najam Ul Islam, Fahad Mumtaz Malik
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/c3d6c662d9f44375904a2f2bc6e8f1dd
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spelling	oai:doaj.org-article:c3d6c662d9f44375904a2f2bc6e8f1dd2021-12-02T20:18:15ZHigh-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.1932-620310.1371/journal.pone.0256049https://doaj.org/article/c3d6c662d9f44375904a2f2bc6e8f1dd2021-01-01T00:00:00Zhttps://doi.org/10.1371/journal.pone.0256049https://doaj.org/toc/1932-6203Sit-to-stand movement (STS) is a mundane activity, controlled by the central-nervous-system (CNS) via a complex neurophysiological mechanism that involves coordination of limbs for successful execution. Detailed analysis and accurate simulations of STS task have significant importance in clinical intervention, rehabilitation process, and better design for assistive devices. The CNS controls STS motion by taking inputs from proprioceptors. These input signals suffer delay in transmission to CNS making movement control and coordination more complex which may lead to larger body exertion or instability. This paper deals with the problem of STS movement execution in the presence of proprioceptive feedback delays in joint position and velocity. We present a high-gain observer (HGO) based feedback linearization control technique to mimic the CNS in controlling the STS transfer. The HGO estimates immeasurable delayed states to generate input signals for feedback. The feedback linearization output control law generates the passive torques at joints to execute the STS movement. The H2 dynamic controller calculates the optimal linear gains by using physiological variables. The whole scheme is simulated in MATLAB/Simulink. The simulations illustrate physiologically improved results. The ankle, knee, and hip joint position profiles show a high correlation of 0.91, 0.97, 0.80 with the experimentally generated reference profiles. The faster observer dynamics and global boundness of controller result in compensation of delays. The low error and high correlation of simulation results demonstrate (1) the reliability and effectiveness of the proposed scheme for customization of human models and (2) highlight the fact that for detailed analysis and accurate simulations of STS movement the modeling scheme must consider nonlinearities of the system.Nadia SultanAsif Mahmood MughalMuhammad Najam Ul IslamFahad Mumtaz MalikPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 16, Iss 8, p e0256049 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Nadia Sultan Asif Mahmood Mughal Muhammad Najam Ul Islam Fahad Mumtaz Malik High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
description	Sit-to-stand movement (STS) is a mundane activity, controlled by the central-nervous-system (CNS) via a complex neurophysiological mechanism that involves coordination of limbs for successful execution. Detailed analysis and accurate simulations of STS task have significant importance in clinical intervention, rehabilitation process, and better design for assistive devices. The CNS controls STS motion by taking inputs from proprioceptors. These input signals suffer delay in transmission to CNS making movement control and coordination more complex which may lead to larger body exertion or instability. This paper deals with the problem of STS movement execution in the presence of proprioceptive feedback delays in joint position and velocity. We present a high-gain observer (HGO) based feedback linearization control technique to mimic the CNS in controlling the STS transfer. The HGO estimates immeasurable delayed states to generate input signals for feedback. The feedback linearization output control law generates the passive torques at joints to execute the STS movement. The H2 dynamic controller calculates the optimal linear gains by using physiological variables. The whole scheme is simulated in MATLAB/Simulink. The simulations illustrate physiologically improved results. The ankle, knee, and hip joint position profiles show a high correlation of 0.91, 0.97, 0.80 with the experimentally generated reference profiles. The faster observer dynamics and global boundness of controller result in compensation of delays. The low error and high correlation of simulation results demonstrate (1) the reliability and effectiveness of the proposed scheme for customization of human models and (2) highlight the fact that for detailed analysis and accurate simulations of STS movement the modeling scheme must consider nonlinearities of the system.
format	article
author	Nadia Sultan Asif Mahmood Mughal Muhammad Najam Ul Islam Fahad Mumtaz Malik
author_facet	Nadia Sultan Asif Mahmood Mughal Muhammad Najam Ul Islam Fahad Mumtaz Malik
author_sort	Nadia Sultan
title	High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
title_short	High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
title_full	High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
title_fullStr	High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
title_full_unstemmed	High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
title_sort	high-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.
publisher	Public Library of Science (PLoS)
publishDate	2021
url	https://doaj.org/article/c3d6c662d9f44375904a2f2bc6e8f1dd
work_keys_str_mv	AT nadiasultan highgainobserverbasednonlinearcontrolschemeforbiomechanicalsittostandmovementinthepresenceofsensoryfeedbackdelays AT asifmahmoodmughal highgainobserverbasednonlinearcontrolschemeforbiomechanicalsittostandmovementinthepresenceofsensoryfeedbackdelays AT muhammadnajamulislam highgainobserverbasednonlinearcontrolschemeforbiomechanicalsittostandmovementinthepresenceofsensoryfeedbackdelays AT fahadmumtazmalik highgainobserverbasednonlinearcontrolschemeforbiomechanicalsittostandmovementinthepresenceofsensoryfeedbackdelays
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High-gain observer-based nonlinear control scheme for biomechanical sit to stand movement in the presence of sensory feedback delays.

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