Simulation of Human Balance Control Using an Inverted Pendulum Model

2017 ◽  
pp. 170-180 ◽  
Author(s):  
Wade W. Hilts ◽  
Nicholas S. Szczecinski ◽  
Roger D. Quinn ◽  
Alexander J. Hunt
Keyword(s):  
Inverted Pendulum ◽  
Balance Control ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Human Balance ◽  
Human Balance Control

The time-delayed inverted pendulum: Implications for human balance control

2009 ◽  
Vol 19 (2) ◽  
pp. 026110 ◽  
Author(s):  
John Milton ◽  
Juan Luis Cabrera ◽  
Toru Ohira ◽  
Shigeru Tajima ◽  
Yukinori Tonosaki ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Balance Control ◽  
Human Balance ◽  
Human Balance Control

DERIVATION AND VALIDATION OF A SPATIAL MULTI-LINK HUMAN POSTURAL STABILITY MODEL

2016 ◽  
Vol 40 (2) ◽  
pp. 155-167
Author(s):  
Nicholas R. Bourgeois ◽  
Robert G. Langlois
Keyword(s):  
Postural Stability ◽  
Inverted Pendulum ◽  
Dynamic Models ◽  
Alternative Methods ◽  
Ship Motions ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Stability Model ◽  
Human Balance ◽  
Naval Engineering

In naval engineering and related disciplines, it is common for dynamic models of the human body to be used in conjunction with quantitative records of body and ship motions, in order to study human balance behaviour while performing various shipboard activities. Research in this area can lead to improvements in ship operations and designs that improve crew safety and efficiency. This paper presents the development of a new spatial 18 degree-of-freedom (DOF)1 ship-inverted pendulum model that incorporates 6 DOF ship motion and 3 DOF joints representing ankle, knee, hip, and neck motions. The derived model is then validated by comparing it to similar models derived using alternative methods but simulated under equivalent input conditions.

scholarly journals Experimental Evaluation of Balance Prediction Models for Sit-to-Stand Movement in the Sagittal Plane

2013 ◽  
Vol 2013 ◽  
pp. 1-9
Author(s):  
Oscar David Pena Cabra ◽  
Takashi Watanabe
Keyword(s):  
Simple Model ◽  
Normal Condition ◽  
Inverted Pendulum ◽  
Prediction Models ◽  
Sagittal Plane ◽  
Balance Control ◽  
Inverted Pendulum Model ◽  
Sit To Stand ◽  
Joint Influence ◽  
Pendulum Model

Evaluation of balance control ability would become important in the rehabilitation training. In this paper, in order to make clear usefulness and limitation of a traditional simple inverted pendulum model in balance prediction in sit-to-stand movements, the traditional simple model was compared to an inertia (rotational radius) variable inverted pendulum model including multiple-joint influence in the balance predictions. The predictions were tested upon experimentation with six healthy subjects. The evaluation showed that the multiple-joint influence model is more accurate in predicting balance under demanding sit-to-stand conditions. On the other hand, the evaluation also showed that the traditionally used simple inverted pendulum model is still reliable in predicting balance during sit-to-stand movement under non-demanding (normal) condition. Especially, the simple model was shown to be effective for sit-to-stand movements with low center of mass velocity at the seat-off. Moreover, almost all trajectories under the normal condition seemed to follow the same control strategy, in which the subjects used extra energy than the minimum one necessary for standing up. This suggests that the safety considerations come first than the energy efficiency considerations during a sit to stand, since the most energy efficient trajectory is close to the backward fall boundary.

scholarly journals Balancing on a narrow ridge: biomechanics and control

1999 ◽  
Vol 354 (1385) ◽  
pp. 869-875 ◽  
Author(s):  
E. Otten
Keyword(s):  
Hip Joint ◽  
Ground Reaction Force ◽  
Inverted Pendulum ◽  
Reaction Force ◽  
Angular Acceleration ◽  
Centre Of Mass ◽  
Inverted Pendulum Model ◽  
Pendulum Model ◽  
Narrow Ridge ◽  
Standing Humans

The balance of standing humans is usually explained by the inverted pendulum model. The subject invokes a horizontal ground–reaction force in this model and controls it by changing the location of the centre of pressure under the foot or feet. In experiments I showed that humans are able to stand on a ridge of only a few millimetres wide on one foot for a few minutes. In the present paper I investigate whether the inverted pendulum model is able to explain this achievement. I found that the centre of mass of the subjects sways beyond the surface of support, rendering the inverted pendulum model inadequate. Using inverse simulations of the dynamics of the human body, I found that hip–joint moments of the stance leg are used to vary the horizontal component of the ground–reaction force. This force brings the centre of mass back over the surface of support. The subjects generate moments of force at the hip–joint of the swing leg, at the shoulder–joints and at the neck. These moments work in conjunction with a hip strategy of the stance leg to limit the angular acceleration of the head–arm–trunk complex. The synchrony of the variation in moments suggests that subjects use a motor programme rather than long latency reflexes.

The Condition of Dynamic Stability for Self-Paced Treadmill Walking Based on Inverted Pendulum Model

2021 ◽  
Author(s):  
Yuyang Qian ◽  
Kaiming Yang ◽  
Yu Zhu ◽  
Wei Wang ◽  
Chenhui Wan
Keyword(s):  
Dynamic Stability ◽  
Inverted Pendulum ◽  
Treadmill Walking ◽  
Inverted Pendulum Model ◽  
Pendulum Model

scholarly journals Turning Gait Planning Method for Humanoid Robots

2018 ◽  
Vol 8 (8) ◽  
pp. 1257 ◽  
Author(s):  
Tianqi Yang ◽  
Weimin Zhang ◽  
Xuechao Chen ◽  
Zhangguo Yu ◽  
Libo Meng ◽  
...  
Keyword(s):  
Inverted Pendulum ◽  
Center Of Mass ◽  
Translational Motion ◽  
Humanoid Robots ◽  
Inverted Pendulum Model ◽  
Straight Line ◽  
Pendulum Model ◽  
The Stability ◽  
And Control ◽  
Present Simulation

The most important feature of this paper is to transform the complex motion of robot turning into a simple translational motion, thus simplifying the dynamic model. Compared with the method that generates a center of mass (COM) trajectory directly by the inverted pendulum model, this method is more precise. The non-inertial reference is introduced in the turning walk. This method can translate the turning walk into a straight-line walk when the inertial forces act on the robot. The dynamics of the robot model, called linear inverted pendulum (LIP), are changed and improved dynamics are derived to make them apply to the turning walk model. Then, we expend the new LIP model and control the zero moment point (ZMP) to guarantee the stability of the unstable parts of this model in order to generate a stable COM trajectory. We present simulation results for the improved LIP dynamics and verify the stability of the robot turning.

scholarly journals Destabilization of human balance control by static and dynamic head tilts

2006 ◽  
Vol 23 (3) ◽  
pp. 315-323 ◽  
Author(s):  
William H. Paloski ◽  
Scott J. Wood ◽  
Alan H. Feiveson ◽  
F. Owen Black ◽  
Emma Y. Hwang ◽  
...  
Keyword(s):  
Balance Control ◽  
Dynamic Head ◽  
Human Balance ◽  
Human Balance Control
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