Dynamics of sit-to-stand and stand-to-sit motions based on the trajectory control of the centre of mass of the body: A bond graph approach

Abstract

This paper presents a bond graph model for the dynamics of sit-to-stand (SiTSt) and stand-to-sit (StTSi) motions. It is hypothesized that, for these motions, the central nervous system (CNS) controls the trajectory of the centre of mass of the body (COMB). The model comprises two identical submodels: one submodel emulates the working of the CNS, and the other represents the human body. Reference trajectories of the COMB determined through experimentation are input to the submodel representing the working of CNS, which automatically determines the required joint angle trajectories. Based on the required and actual joint angle trajectories, proportional integral derivative controllers at the joints (j-PID) provide the required joint torques to actuate the human body submodel. Simulation results show that during SiTSt or StTSi motions, the centre of mass of the human body submodel follows the commanded trajectories. The joint angle trajectories from the submodel representing the working of CNS closely follow the respective experimental joint angle trajectories. Also, for each motion, joint angles, torques and powers are presented, which agree with earlier studies. These findings provide adequate confidence in proposed hypothesis and indicate the potential of developed model for other biomechanical investigations of SiTSt and StTSi motions.