Stabilization of a Human Posture Model in Space

A.R. Selman (Canada)


Non-Linear Control.


Understanding of the postural balancing and stability of quiet upright stance is of great importance in neurophysiology. This paper presents a novel human posture control model (HP) for control determination and further investigation of central nervous system (CNS) strategies of a human body’s motion during upright stance. The HP presented in this paper is novel, since it is different from classical kinematics and dynamics formulations, and is an attempt to bridge the gap between 2D fully linearized models and 3D under-actuated nonlinear control model techniques in human standing motion study. Two control methods were employed in order to stabilize the HP when the subject is released from three dimensional (3D) (i.e, anterior and/or posterior sagittal plane (AP), medial and/or lateral frontal plane (ML)) leaning posture to its upright unstable equilibrium, defined as the modeled subject’s preferred upright vertical position. First, an energy controller was implemented in order to stabilize the HP in the region of the upright standing position when the HP was initially above the horizontal plane. Second, after the HP was stabilized, a nonlinear control design based on linear quadratic regulator LQR methods was implemented to achieve an erect stance of HP.

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