Title :
A PID model of human balance keeping
Author :
Hidenori, Kimura ; Jiang, Yifa
Abstract :
The basic requirement of biped (two-legged) motion is upright standing, which is inherently a balance-keeping task. The goal of our research is to understand what enables standing in humans and use this insight to develop diagnostics for medical applications. Standing involves a complex balance-keeping control mechanism in the brain. In addition to the brain, the bone frame and muscular system are developed to make bipedal motion possible. We have developed a balance-keeping control model that can be used for analyzing the balance-keeping ability in humans. PID control model is used to approximate the control process that enables standing. This closed-loop model provides insight into balance-related phenomena such as body sway and falls
Keywords :
biocontrol; biomechanics; closed loop systems; legged locomotion; muscle; patient diagnosis; three-term control; PID model; balance-keeping control mechanism; balance-keeping control model; balance-keeping task; biped motion; bipedal motion; bone frame; brain; closed-loop model; human balance keeping; muscular system; upright standing; Actuators; Aging; Central nervous system; Centralized control; Control systems; Eyes; Humans; Pediatrics; Senior citizens; Sense organs;
Journal_Title :
Control Systems, IEEE
DOI :
10.1109/MCS.2006.252809
