Standing automatic stabilization control for people with disability in lower limbs

Abstract

In this paper, we consider a control method of standing stabilization for people with disability in lower limbs. There is a problem that people with paralysis in lower limbs can not maintain standing stabilization condition, and do not have sense of sole. Human body posture is modeled as a double inverted pendlum with a foot. Using that model, we design the optimal regulator controller for stabilizing the standing posture by automatic control.