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Dynamical Simulation and Lumbar Spine Control Flexion-Extension Movement

Abedi, Maryam | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40775 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza; Parnianpour, Mohammad
  7. Abstract:
  8. Low back pain (LBP) problems are of concern to many researchers specially physiologists, biomedical engineers and... .biomechanical models can help us to furthering our knowledge of the mechanical characteristics of the spine and its neural control to know more about potential mechanisms of injury. This thesis involves computational model of lumbar spine to generate and control its flexion-extension movement.
    Model has involved 7 links: 5 lumbar vertebrae, pelvis and trunk. Desired trajectory has been generated for rhythmic and discrete motion by the central pattern generators (CPGs). And then controller has produced torque of joints to track desired trajectory. CPGs have been designed in the way that they can produce optimal trajectory at specific rate and amplitude of motion. In order to calculate optimal trajectory several optimization functions including, minimum energy consumption, minimum jerk, minimum torque rate and combination of them have been used. Oscillatory equations and dynamical equations with point attractor have been applied for rhythmic and discrete movements respectively. By adjustment of some specific parameters in CPG models, amplitude and rate of motion have been changed. There have been some connections between CPGs in order to make all CPGs work at similar phases. In other works all links have tendency to start and finish their work simultaneously. Three controllers, PD controller, feedback linearization controller and combination of them have been designed to make links track desired trajectory. Coefficients of PD controller have been calculated by linearization of equations of motion and division of motion in to eignemovement directions
  9. Keywords:
  10. Oscillators ; Feedback Linearization ; Central Pattern Generator ; Eigen Movement

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