Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/44130
標題: Stabilizing postural control for emulated human balancing systems
作者: Li, C.L.
林俊良
Lin, C.L.
Chen, C.K.
關鍵字: Posture control
Balance
Stability
Human body
kinematics
model
期刊/報告no:: International Journal of Engineering Science, Volume 46, Issue 11, Page(s) 1120-1135.
摘要: Human suffering from vertiginous might experience their body tilting and may eventually fall over. The analytical understanding and applications of human posture control. could possibly be extended to understand the postural sway. On the basis of a simplified human body model with two stiff segments and articulation at the hip and ankle, this paper presents a two stage feedback control law for assisting balance in the human's standing posture under interference of subjective verticals. A robust control law is developed from a control-theoretical point of view to guarantee posture stability under disturbances caused by vertigo. In understanding the task of posture control feedback, the control theory based on the human model could be a source of inspiration to physiologists for physiological modeling and understanding of complex mechanical and neurological interactions. The results developed are to be used as a basis for stance posture control of bionic robots and motion-aid robots. (c) 2008 Elsevier Ltd. All rights reserved.
URI: http://hdl.handle.net/11455/44130
ISSN: 0020-7225
文章連結: http://dx.doi.org/10.1016/j.ijengsci.2008.04.009
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