Uncontrolled manifold analysis of standing-up motion for development of an assistance system

Qi An, Hajime Asama, Cara E. Stepp, Yoky Matsuoka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Standing-up motion is essential to performance of the activities of daily life (ADL). In this research, we analyse human standing-up motion in terms of how joint angles coordinate to contribute to the motion. Uncontrolled manifold (UCM) analysis is applied, and degrees of joint coordination are calculated for the entire course of the motion. Those values are investigated for the four phases of the motion to understand which positions of the body are under explicit control. Results indicate that individuals control their hip and shoulder positions in the horizontal direction until extending their upper body and also after they finish lifting up their body. On the other hand, it is shown that vertical direction of the hip and shoulder are controlled until the time they bend their back and lift up their hip. Based on time series of calculated joint coordination over the entire standing-up motion, we suggest a new control method for our previously developed force assisting system. The controller allows deviated range of movement during the time points in which healthy participants show less explicit control of their body positions, and requires more consistent trajectories during times when participants show more explicit control.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011
DOIs
Publication statusPublished - Nov 2 2011
Externally publishedYes
EventRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Zurich, Switzerland
Duration: Jun 27 2011Jul 1 2011

Publication series

NameIEEE International Conference on Rehabilitation Robotics
ISSN (Print)1945-7898
ISSN (Electronic)1945-7901

Other

OtherRehab Week Zurich 2011 - 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011
CountrySwitzerland
CityZurich
Period6/27/117/1/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Rehabilitation
  • Electrical and Electronic Engineering

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  • Cite this

    An, Q., Asama, H., Stepp, C. E., & Matsuoka, Y. (2011). Uncontrolled manifold analysis of standing-up motion for development of an assistance system. In 2011 IEEE International Conference on Rehabilitation Robotics, ICORR 2011 - Rehab Week Zurich 2011 [5975447] (IEEE International Conference on Rehabilitation Robotics). https://doi.org/10.1109/ICORR.2011.5975447