Control of Sit to Stand Mechanism of Assistive Device for Paraplegics

This paper focuses on position control of sit to stand mechanism of a device developed at Air University for paraplegic patients. A dynamics model of the mechanism is presented. A nonlinear robust sliding mode controller is designed to position the end effector of the mechanism correctly. Stability of switching surface is ensured and control law is devised. The position control is successfully verified through simulation results.