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Öğe A NEW NONLINEAR ANALYTICAL CONTROL OF THE HUMAN KNEE JOINT OF PARAPLEGIC PATIENTS UNDER INITIAL KNEE ANGLE UNCERTAINTIES(Cefin Publishing House, 2024) Al-Bakri, Fawaz F.; Khafaji, Salwan Obaid Waheed; Ali, Hasan H.; Al Juboori, Ameen M.; Cihan, Ibrahim H.The prolonged sitting for disabled patients can cause several health problems such as muscle wasting, bedsores, and pain. The majority of these disabled people are paraplegic patients that the activities of their muscles can effectively increase due to knee position training. In this work, a new analytical methodology for controlling the human knee position is emphasized. The knee angle profile is parameterized using seven-term exponential function. These seven coefficients are computed by fulfilling the initial and final states for knee angle, knee velocity, and electrical torque. Then, the analytical pulse width will be used to simulate the nonlinear knee dynamic system achieving the steady-state knee position with fast settling time (0.48 sec) and small overshoot (3.22%). Eventually, the introduced algorithm is confirmed in the presence of initial knee angle dispersions using Monte-Carlo simulation method. As a result, the nonlinear analytical control is successfully able to steer the human knee angle from the initial state to the desired state shortly with maximum overshoot of about 6.8% while including a wide range of initial knee angle deviations. © 2024, Cefin Publishing House. All rights reserved.
