Title :
Analysis of human postural stability based on the inverted pendulum model with time-delay in feedback
Author :
Micheau, P. ; Kron, A.
Author_Institution :
Dept. of Mech. Eng., Sherbrooke Univ., Que.
Abstract :
For normal quiet standing the ankle strategy is used for human posture. The musculoskeletic system can be viewed as an inverted pendulum stabilised by a feedback loop with the lambda control. Mathematical modelling of the musculo-skeletal system under lambda control is presented as a nonlinear system with time-delay in feedback. Necessary conditions of asymptotic stability and a practical analytic expression of the delay margin are presented. To authenticate the model, five subjects are experimented
Keywords :
biomechanics; delays; feedback; stability; ankle strategy; asymptotic stability; delay margin; feedback; feedback loop; human postural stability; inverted pendulum model; lambda control; mathematical modelling; musculoskeletic system; nonlinear system; practical analytic expression; time-delay; Asymptotic stability; Control system synthesis; Control systems; Delay; Feedback loop; Humans; Mathematical model; Nonlinear control systems; Nonlinear systems; Stability analysis;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.946093
