A NEW NONLINEAR ANALYTICAL CONTROL OF THE HUMAN KNEE JOINT OF PARAPLEGIC PATIENTS UNDER INITIAL KNEE ANGLE UNCERTAINTIES

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dc.contributor.authorAl-Bakri, Fawaz F.
dc.contributor.authorKhafaji, Salwan Obaid Waheed
dc.contributor.authorAli, Hasan H.
dc.contributor.authorAl Juboori, Ameen M.
dc.contributor.authorCihan, Ibrahim H.
dc.date.accessioned2025-03-17T12:22:53Z
dc.date.available2025-03-17T12:22:53Z
dc.date.issued2024
dc.departmentTarsus Üniversitesi
dc.description.abstractThe 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.
dc.identifier.doi10.17683/ijomam/issue17.2
dc.identifier.endpage22
dc.identifier.issn2559-6497
dc.identifier.issue17
dc.identifier.scopus2-s2.0-85206878104
dc.identifier.scopusqualityQ4
dc.identifier.startpage16
dc.identifier.urihttps://doi.org/10.17683/ijomam/issue17.2
dc.identifier.urihttps://hdl.handle.net/20.500.13099/1446
dc.identifier.volume2024
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherCefin Publishing House
dc.relation.ispartofInternational Journal of Mechatronics and Applied Mechanics
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_Scopus_20250316
dc.subjectAnalytical Control
dc.subjectKnee Position Control
dc.subjectMonte Carlo Simulation
dc.subjectParaplegic Patients
dc.titleA NEW NONLINEAR ANALYTICAL CONTROL OF THE HUMAN KNEE JOINT OF PARAPLEGIC PATIENTS UNDER INITIAL KNEE ANGLE UNCERTAINTIES
dc.typeArticle

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