Modelling human balance using switched systems with linear feedback control
Piotr Kowalczyk,Paul Glendinning,Martin Brown,Gustavo A. Medrano-Cerda,Houman Dallali,Jonathan Shapiro +5 more
TL;DR: The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations in stable periodic motions about an upright position.
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Abstract: We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations.
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Citations
Acceleration feedback improves balancing against reflex delay
TL;DR: A model for human postural balance is considered in which the time-delayed feedback depends on position, velocity and acceleration (proportional–derivative–acceleration (PDA) feedback), and it is shown that a PDA controller is equivalent to a predictive controller, which the prediction is based on the most recent information of the state, but the control input is not involved into the prediction.
Balancing on tightropes and slacklines.
TL;DR: This analysis of the open and closed-loop dynamics shows the existence of an optimal rope sag where balancing requires minimal effort, consistent with qualitative observations and suggestive of strategies for optimizing balancing performance while standing and walking.
61
The assessment of center of mass and center of pressure during quiet stance: Current applications and future directions
TL;DR: In this paper, a brief review of how center of pressure (CoP) and center of mass (CoM) are traditionally utilized to measure quiet standing and how technological advancements are allowing for measurements to be derived outside the confines of a laboratory setting.
47
Postural instability via a loss of intermittent control in elderly and patients with Parkinson's disease: a model-based and data-driven approach
Yasuyuki Suzuki,Akihiro Nakamura,Matija Milosevic,Kunihiko Nomura,Takao Tanahashi,Takuyuki Endo,Saburo Sakoda,Pietro Morasso,Taishin Nomura +8 more
TL;DR: Estimating the joint probability distribution of a set of parameters in the model using the Bayesian parameter inference such that the model with the inferred parameters can best-fit sway data for each individual is presented.
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Limit cycle oscillations in standing human posture
James R. Chagdes,Shirley Rietdyk,Jeffrey M. Haddad,Howard N. Zelaznik,Michael E. Cinelli,Luke T. Denommé,Kaley C. Powers,Arvind Raman +7 more
TL;DR: LCs in the postural sway of individuals with multiple sclerosis and concussed athletes representing two different populations with chronically and acutely increased neuromuscular time-delays are studied.
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