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dc.contributor.authorLi, Ching-Lungen_US
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dc.description.abstract本論文主要是建構一個包含前庭器交互作用的數學模型以描述人類筆直站立的姿態和生醫特性上的交互作用。此數學模型解釋並描述主觀垂直 (subjective vertical; SV)定向和角速度引起的靜態傾斜針對人類筆直站立的姿態影響。該影響於人體中會產生一個類似摩天輪的錯覺而致使人體姿態不平衡。本文提出一個以狀態回授控制律為基礎的模型來控制人體受到主觀垂直錯覺干擾的站立姿態平衡,其中主觀垂直受角速度所引起的靜態傾斜暈眩當作系統數學模式中的不確定性,因此本論文中額外加入一個強健控制的法則來保證受暈眩擾動系統的穩定性。此研究發展的理論期望對未來發展完全擬人化之機器人有正面的助益。zh_TW
dc.description.abstractThe aim of this thesis is to characterize a mathematical model, including canal-otolith interaction, to describe biological interaction of the human upright standing posture and biological characteristics. The model explains and describes the subjective vertical orientation, angular velocity induced static tilt, and how does this phenomenon to affect the human upright standing postural balance. On the basis of the model, a state feedback control law is presented to assist the balance of the human's standing posture that is interfered by the subjective verticals with the phenomenon of subjective vertical orientation illusion treated as an external disturbance. A robust control law is developed to guarantee the posture stability while there is plant uncertainties caused by the effect of vertigo. It is expected that this research could be served as a preliminary for designing postural control law for the future humanoid robots.en_US
dc.description.tableofcontents誌謝 i 中文摘要 ii Abstract iii Content iv List of Figures v List of Table vii Chapter 1 Introduction 1 Chapter 2 Linear Feedback Control Model of Human Body 5 2.1 A Simple Linear Feedback Control Model of Human Body 5 2.2 Body Dynamics 6 2.3 Sensors – Physiology and Functions of the Vestibular System in Human 10 2.4 CNS– Canal-otolith Interaction 12 2.5 Gravito-inertial Force Recognition 14 Chapter 3 SV Body Dynamics 17 3.1 Subjective Vertical Function 17 3.2 Subjective Vertical (SV) Body Dynamics 19 Chapter 4 Controller Design 24 4.1 Manipulator System with Primary and Secondary Controller 24 4.2 Controller Design 25 4.3 Stability Analysis 28 Chapter 5 Numerical Simulations 32 Chapter 6 Conclusion 46 Reference 47 Appendix 51 Figure 1 Linear feedback control of human body [13]. 53 Figure 2 Body model in the frontal plane consists of an inverted double pendulum 53 Figure 3 A simple construct of human posture control 54 Figure 4 A simple concept illustration of central nervous system. 54 Figure 5 Human vestibular system [35] 55 Figure 6 Anatomy and physiology of Otolith [36] 55 Figure 7 Subject is rotated about an earth vertical axis with a constant velocity 56 Figure 8 Ferris wheel illusions 56 Figure 9 The effect of somatogravic illusion 57 Figure 10 The effect of another somatogravic illusion 57 Figure 11 GIF-recognition model 58 Figure 12 Subject rotation with constant angular velocity about the earth-horizon 58 Figure 13 Angular velocity inducing static tilt 59 Figure 14 Block diagram of vestibular system 59 Figure 15 SV body model 60 Figure 16 The block diagram of SV illusive body system 60 Figure 17 Feedback control model of human body with disturbances caused by the effect of vertigo 61 Figure 18 Primary and secondary controllers 61 Figure 19 Primary and secondary control of human body with disturbances caused by vertigo 62 Figure 20 The horizontal component 62 Figure 21 The vertical component 63 Figure 22 Position and velocity errors of the simulated responses in case 1. 63 Figure 23 The reference movement for case2 64 Figure 24 Position and velocity errors of the simulated responses in case 2. 64 Figure 25 The reference movement for case3 65 Figure 26 Position and velocity errors of the simulated responses in case 3. 65 Figure 27 Position and velocity errors of the simulated responses in case 4. 66 Figure 28 The horizontal component 66 Figure 29 The vertical component 67 Figure 30 Position and velocity errors of the simulated responses in case 5. 67 Figure 31 Position and velocity errors of the simulated responses in case 6. 68 Figure 32 The horizontal component 68 Figure 33 The vertical component 69 Figure 34 Ankle position error of the simulated responses without 69 Figure 35 Ankle position error of the simulated responses with 70 Figure 36 The horizontal component 70 Figure 37 Position and velocity errors of the simulated responses in case 8 71 Figure 38 Position and velocity errors of the simulated responses in case 9 71 Figure 39 Position and velocity errors of the simulated responses in case 10 72 Figure 40 Position and velocity errors of the simulated responses in case 11 72 Figure 41 Position and velocity errors of the simulated responses in case 12 73 Figure 42 Position and velocity errors of the simulated responses in case 12 73 Table 1 Parameters of the body segments and environment 74zh_TW
dc.subjectpostural controlen_US
dc.subjectsubjective verticalen_US
dc.subjectrobust controlen_US
dc.titleAnalysis and Control Design for Emulated Human Postural Balancing Systemsen_US
dc.typeThesis and Dissertationzh_TW
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