- Volume 33 Issue 1
Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities such as ankle, knee and hip mode were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that simulation result of eigenvector feedback was not competitive in comparison with that of full-state feedback control. This implies that the CNS would make use of full-state body information to generate compensative joint torques.
- Philippe, M., 2003, "Evaluation of the Lambda Model for Human Postural Control During Ankle Strategy,” Biol Cybern, Vol. 89, pp. 227-236 https://doi.org/10.1007/s00422-003-0412-z
- Kuo, A.D. and F.E. Zajac, 1993, "A Biomechanical Analysis of Muscle Strenth as a Limiting Factor in Stading Posture,” J Biomech, Vol. 26, pp. 137-150 https://doi.org/10.1016/0021-9290(93)90085-S
- Barin, K., 1989, "Evaluation a Generalized Model of Human Postural Dynamics and Control in the Sagittal Plane,” Biol Cybern, Vol. 61, pp. 37-50 https://doi.org/10.1007/BF00204758
- Yang, J.F., D.A. Winter, and R.P. Wells, 1990, "Postural Dynamics in the Standing Human,” Biol Cybern, Vol. 62, pp. 309-320 https://doi.org/10.1007/BF00201445
- Alexandrov, A.V., 2005, "Feedback Equilibrium Control During Human Standing,” Biol Cybern, Vol.93, pp. 309-322 https://doi.org/10.1007/s00422-005-0004-1
- Kuo, A.D. and F. Zajac, 1993, "Human Standing Posture: Multijoint Movement Strategies Based on Biomechanical Constraints,” Prog Brain Res, Vol. 97, pp. 349-358 https://doi.org/10.1016/S0079-6123(08)62294-3
- Park, S., F.B. Horak, and A.D. Kuo, 2004, "Postural Feedback Responses Scale with Biomechanical Constraints in Human Standing,” Exp Brain Res https://doi.org/10.1007/s00221-003-1674-3
- Bedford and Fowler, 2002, "Engineering Mechanics - Dynamics. 3 ed,” Pearson Prentice Hall
- Winter, D.A., 1992, "Biomechanics and Motor Control of Human Movements 2nd ed,” University of Waterloo Press, Waterloo, Canada
- Kuo, A.D., 1998, "A Least-Square Estimation Approach to Improving the Precision of Inverse Dynamics Computations,” Trans ASME Bioeng, Vol. 120, pp. 148-159 https://doi.org/10.1115/1.2834295
- Kuo, A.D., 1995, "An Optimal Control Model for Analyzing Human Postural Balance,” IEEE Transactions on Biomechanical Engineering, Vol. 42, pp. 87-101 https://doi.org/10.1109/10.362914
- Venkataraman, P., 2002, "Applied Optimization with Matlab Programming,” Wiley-interscience
- Alexandrov, A.V., 1998, "Biomechanical Analysis of Hip and Ankle Strategies During Fast Forward Upper Trunk Bending"