Page 127 - Handbook of Biomechatronics

Model-Based Control of Biomechatronic Systems 123

biomechatronic system models, model-based controllers, and inverse and
predictive simulations. The biomechatronic model is an integrated model
of the user’s biomechanics and a dynamic model of the assistive device,
which can be used to simulate the human-machine interactions. The
biomechatronic model parameters can be adjusted to represent a specific
individual or groups of individuals. This biomechatronic model facilitates
the design of individualized model-based controllers, and can be used to
improve the device and controller design through MIL inverse or predictive
simulations.
In the case study, a systematic method to consider the driver’s physical
characteristics in the design of a driver-specific EPS controller is proposed.
To design such an EPS controller, first, the high-fidelity driver-vehicle
model is simplified to reduce the computational burden associated with
the multibody and biomechanical systems. The muscle parameters in the
high-fidelity and simplified integrated driver-vehicle models have been
adjusted to represent drivers with different physical abilities (young male,
old male, young female, and old female). A steering feel optimization pro-
cedure is used to tune the EPS controller for each group. Simulation results
using the high-fidelity biomechatronic driver-vehicle model showed that it
is possible to develop a model-based EPS controller that considers the phys-
ical characteristics of a driver and delivers a targeted steering feel to a
predefined driver population. Evaluation of the tuned EPS controller also
showed that, although the EPS controller has been tuned based on the sim-
plified model, the controller shows the same expected behavior in high-
fidelity simulations.

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