Modelling human balance using switched systems with linear feedback control

被引：51

作者：

Kowalczyk, Piotr ^{[1
]}

Glendinning, Paul ^{[2
]}

Brown, Martin ^{[3
]}

Medrano-Cerda, Gustavo ^{[5
]}

Dallali, Houman ^{[2
]}

Shapiro, Jonathan ^{[4
]}

机构：

[1] Manchester Metropolitan Univ, Sch Comp Math & Digital Technol, Manchester M1 5GD, Lancs, England

[2] Univ Manchester, Sch Math, Manchester M13 9PL, Lancs, England

[3] Univ Manchester, Sch Elect & Elect Engn, Manchester M13 9PL, Lancs, England

[4] Univ Manchester, Sch Comp Sci, Manchester M13 9PL, Lancs, England

[5] Ist Itialiano Tecnol, Genoa, Italy

来源：

JOURNAL OF THE ROYAL SOCIETY INTERFACE | 2012年 / 9卷 / 67期

基金：

英国工程与自然科学研究理事会;

关键词：

human balance; switched systems; dynamics; HUMAN POSTURAL CONTROL; SENSORIMOTOR INTEGRATION; VELOCITY INFORMATION; QUIET STANCE; BODY SWAY; STIFFNESS; STABILIZATION; EQUATIONS; DELAYS; NOISE;

D O I：

10.1098/rsif.2011.0212

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations.

引用

页码：234 / 245

页数：12

共 36 条

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