| LYAPUNOV-BASED CONTROL OF A 5-DOF HUMAN SQUAT MOTION: MODELING AND SIMULATION |
| Paper ID : 1248-SPORTCONGRESS (R2) |
| Authors |
|
Erfan Sedaghat, Mohammad Reza Mashouf, Seyyed Arash Haghpanah * School of Mechanical Engineering, Shiraz University, Shiraz, Iran |
| Abstract |
| The squat is a fundamental movement in sports science, rehabilitation, and functional training, requiring precise coordination of multiple joints and muscle groups. Accurate modeling of this complex motion is essential for understanding biomechanical performance, preventing injuries, and designing effective assistive technologies. Traditional low-degree-of-freedom (DOF) models often oversimplify the motion, limiting their ability to capture multi-joint dynamics. In this study, a five-degree-of-freedom (5-DOF) biomechanical model is developed to simulate human squat motion in the sagittal plane, incorporating the dynamics of the ankle, knee, hip, shoulder, and elbow. The nonlinear equations of motion are derived using the Lagrangian formulation, capturing kinetic and potential energy interactions across segments. To ensure robust trajectory tracking, a Lyapunov-based nonlinear control strategy is employed. This controller guarantees global asymptotic stability and compensates for system nonlinearities and modeling uncertainties. The proposed framework provides a foundation for advanced applications in rehabilitation robotics, movement optimization, and neuromuscular diagnostics, with potential for integration with biofeedback and wearable systems. |
| Keywords |
| Human squat biomechanics, 5-DOF modeling, Lagrangian dynamics, Lyapunov-based control, nonlinear systems, trajectory tracking, rehabilitation robotics, joint coordination |
| Status: Abstract Accepted (Poster Presentation) |
