Exploring the Effect of Foot Position on Performance of a Modular and Hierarchical Movement Planner in Planning the Sit-to-Stand Transfer

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Abstract

Many researchers in the science of human behavior explore the role and function of the central nervous system (CNS) in planning and controlling of human movements. To this end, researchers have presented several different models. In present research a computer simulation of CNS's performance in designing the Sit-to-Stand transfer, which has been recently presented, is developed. This motion simulator is a modular and hierarchical movement planner (MHMP), based on decomposition hypothesis. In this paper the effect of foot position, as an environmental condition, is explored. The performance of the MHMP is evaluated with experimental captured motion. To this end, sit to stand motion is captured for five different foot position. Among these five motions, three motions are used to train the MHMP and the remaining motions are used for evaluating its performance. Results show that the maximum error of ankle, knee and hip angles are 0.122, 0.069 and 0.092 (radian) respectively. The maximum allowed error, suggested in researches, is 0.17(radian). The results show that the MHMP has a good performance in planning the motion phases under this condition.

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References

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Journal of Solid and Fluid Mechanics
Volume 6, Issue 3
September and October 2016
Pages 109-118

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