scholarly journals Integration of Hip Strategy and Ankle Strategy by Optimal Regulator on Humanoid Balance Control

2019 ◽  
Vol 37 (9) ◽  
pp. 873-880
Author(s):  
Sang-Ho Hyon
Keyword(s):  
Balance Control ◽  
Ankle Strategy ◽  
Hip Strategy ◽  
Optimal Regulator

Hip Strategy for Balance Control in Quiet Standing Is Reduced in People With Low Back Pain

Spine ◽  
2004 ◽  
Vol 29 (6) ◽  
pp. E107-E112 ◽  
Author(s):  
Nicola W. Mok ◽  
Sandra G. Brauer ◽  
Paul W. Hodges
Keyword(s):  
Low Back Pain ◽  
Back Pain ◽  
Balance Control ◽  
Quiet Standing ◽  
Low Back ◽  
Hip Strategy

scholarly journals Balance control strategies during perturbed and unperturbed balance in standing and handstand

2017 ◽  
Vol 4 (7) ◽  
pp. 161018 ◽  
Author(s):  
Glen M. Blenkinsop ◽  
Matthew T. G. Pain ◽  
Michael J. Hiley
Keyword(s):  
Central Nervous System ◽  
Nervous System ◽  
Control Strategy ◽  
Inverted Pendulum ◽  
Mixed Strategy ◽  
Balance Control ◽  
Control Strategies ◽  
Ankle Strategy ◽  
The Central Nervous System ◽  
Fixed Orientation

Insights into sensorimotor control of balance were examined by the assessment of perturbed and unperturbed balance in standing and handstand postures. During perturbed and unperturbed balance in standing, the most prevalent control strategy was an ankle strategy, which was employed for more than 90% of the time in balance. During perturbed and unperturbed balance in handstand, the most prevalent control strategy was a wrist strategy, which was employed for more than 75% of the time in balance. In both postures, these strategies may be described as a single segment inverted pendulum control strategy, where the multi-segment system is controlled by torque about the most inferior joint with compensatory torques about all superior joints acting in the same direction to maintain a fixed orientation between superior segments. In contrast to previous literature, surprisingly little time was spent in a mixed strategy, representing less than 1% of time in standing balance and approximately 2% of time in handstand balance. Findings indicate that although the central nervous system may employ a number of control strategies during a trial, these strategies are employed individually rather than simultaneously.

Noise-Induced Balance Loss? Rethinking Clinical Implications of Noise Exposure

2019 ◽  
Vol 4 (6) ◽  
pp. 1418-1422
Author(s):  
Bre Myers ◽  
J. Andrew Dundas
Keyword(s):  
Vestibular System ◽  
Noise Exposure ◽  
Balance Control ◽  
Scope Of Practice ◽  
Hearing Conservation ◽  
Exposed Population ◽  
Auditory Systems ◽  
Current Article ◽  
Balance Loss ◽  
Cross System

Purpose The primary aim of the current article is to provide a brief review of the literature regarding the effects of noise exposure on the vestibular and balance control systems. Although the deleterious effects of noise on the auditory system are widely known and continue to be an active area of research, much less is known regarding the effects of noise on the peripheral vestibular system. Audiologists with working knowledge of how both systems interact and overlap are better prepared to provide comprehensive care to more patients as assessment of both the auditory and vestibular systems has been in the audiologists' scope of practice since 1992. Method A narrative review summarizes salient findings from the archival literature. Results Temporary and permanent effects on vestibular system function have been documented in multiple studies. Hearing conservation, vestibular impairment, and fall risk reduction may be more intimately related than previously considered. Conclusions A full appreciation of both the vestibular and auditory systems is necessary to address the growing and aging noise-exposed population. More cross-system studies are needed to further define the complex relationship between the auditory and vestibular systems to improve comprehensive patient care.

MSHE-PWM Control of Modular Multilevel Direct Current Transmission System

2015 ◽  
Vol 9 (1) ◽  
pp. 553-559
Author(s):  
HU Xin-xin ◽  
Chen Chun-lan
Keyword(s):  
Pulse Width Modulation ◽  
Reactive Power ◽  
Balance Control ◽  
Electric Energy ◽  
Access Point ◽  
Experimental Result ◽  
Switching Frequency ◽  
Pwm Control ◽  
Harmonic Elimination

In order to optimize the electric energy quality of HVDC access point, a modular multilevel selective harmonic elimination pulse-width modulation (MSHE-PWM) method is proposed. On the basis of keeping the minimum action frequency of the power device, MSHE-PWM method can meet the requirement for accurately eliminating low-order harmonics in the output PWM waveform. Firstly, establish the basic mathematical model of MMC topology and point out the voltage balance control principle of single modules; then, analyze offline gaining principle and realization way of MSHEPWM switching angle; finally, verify MSHE-PWM control performance on the basis of MMC reactive power compensation experimental prototype. The experimental result shows that the proposed MSHE-PWM method can meet such performance indexes as low switching frequency and no lower-order harmonics, and has verified the feasibility and effectiveness thereof for optimizing the electric energy quality of HVDC access point.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

scholarly journals Reactive Balance Control for Legged Robots under Visco-Elastic Contacts

2020 ◽  
Vol 11 (1) ◽  
pp. 353
Author(s):  
Thomas Flayols ◽  
Andrea Del Prete ◽  
Majid Khadiv ◽  
Nicolas Mansard ◽  
Ludovic Righetti
Keyword(s):  
Inverse Dynamics ◽  
State Of The Art ◽  
Balance Control ◽  
Contact Stiffness ◽  
Poor Performance ◽  
Admittance Control ◽  
Inverse Dynamics Control ◽  
Rigid Contact ◽  
Reactive Balance ◽  
Shed Light

Contacts between robots and environment are often assumed to be rigid for control purposes. This assumption can lead to poor performance when contacts are soft and/or underdamped. However, the problem of balancing on soft contacts has not received much attention in the literature. This paper presents two novel approaches to control a legged robot balancing on visco-elastic contacts, and compares them to other two state-of-the-art methods. Our simulation results show that performance heavily depends on the contact stiffness and the noises/uncertainties introduced in the simulation. Briefly, the two novel controllers performed best for soft/medium contacts, whereas “inverse-dynamics control under rigid-contact assumptions” was the best one for stiff contacts. Admittance control was instead the most robust, but suffered in terms of performance. These results shed light on this challenging problem, while pointing out interesting directions for future investigation.

scholarly journals Evaluating objective measures of impairment to trunk strength and control for cross-country sit skiing

2021 ◽  
Vol 24 (1) ◽  
Author(s):  
Valeria Rosso ◽  
Vesa Linnamo ◽  
Yves Vanlandewijck ◽  
Walter Rapp ◽  
Benedikt Fasel ◽  
...  
Keyword(s):  
Cluster Analysis ◽  
Effect Size ◽  
Balance Control ◽  
Control Measures ◽  
Objective Measures ◽  
Testing Device ◽  
Trunk Control ◽  
Cross Country ◽  
And Control ◽  
Trunk Strength

AbstractIn Paralympic cross-country sit skiing, athlete classification is performed by an expert panel, so it may be affected by subjectivity. An evidence-based classification is required, in which objective measures of impairment must be identified. The purposes of this study were: (i) to evaluate the reliability of 5 trunk strength measures and 18 trunk control measures developed for the purposes of classification; (ii) to rank the objective measures, according to the largest effects on performance. Using a new testing device, 14 elite sit-skiers performed two upright seated press tests and one simulated poling test to evaluate trunk strength. They were also subjected to unpredictable balance perturbations to measure trunk control. Tests were repeated on two separate days and test–retest reliability of trunk strength and trunk control measures was evaluated. A cluster analysis was run and correlation was evaluated, including all strength and control measures, to identify the measures that contributed most to clustering participants. Intraclass correlations coefficients (ICC) were 0.71 < ICC < 0.98 and 0.83 < ICC < 0.99 for upright seated press and perturbations, respectively. Cluster analysis identified three clusters with relevance for strength and balance control measures. For strength, in upright seated press peak anterior pushing force without backrest (effect size = 0.77) and ratio of peak anterior pushing force without and with backrest (effect size = 0.72) were significant. For balance control measures, trunk range of motion in forward (effect size = 0.81) and backward (effect size = 0.75) perturbations also contributed. High correlations (− 0.76 < r < − 0.53) were found between strength and control measures. The new testing device, protocol, and the cluster analysis show promising results in assessing impairment of trunk strength and control to empower an evidence-based classification.

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