Intermittent Control of Movement and Balance

Gawthrop, P.J.; Gollee, H.; Lakie, Martin; Loram, Ian D.

doi:10.1007/978-1-0716-1006-0_100701

Cited by 1 publication

(1 citation statement)

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“…Furthermore, the intermittency here is based on activating the PD controller based on the state-dependent mechanism. However, other intermittent controller paradigms introduced in [ 71 , 72 ] and the human likeliness of each paradigm can be studied as future work.…”

Section: Discussionmentioning

confidence: 99%

Optimal controllers resembling postural sway during upright stance

Jafari

Gustafsson

2023

PLoS ONE

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The human postural control system can maintain our balance in an upright stance. A simplified control model that can mimic the mechanisms of this complex system and adapt to the changes due to aging and injuries is a significant problem that can be used in clinical applications. While the Intermittent Proportional Derivative (IPD) is commonly used as a postural sway model in the upright stance, it does not consider the predictability and adaptability behavior of the human postural control system and the physical limitations of the human musculoskeletal system. In this article, we studied the methods based on optimization algorithms that can mimic the performance of the postural sway controller in the upright stance. First, we compared three optimal methods (Model Predictive Control (MPC), COP-Based Controller (COP-BC) and Momentum-Based Controller (MBC)) in simulation by considering a feedback structure of the dynamic of the skeletal body as a double link inverted pendulum while taking into account sensory noise and neurological time delay. Second, we evaluated the validity of these methods by the postural sway data of ten subjects in quiet stance trials. The results revealed that the optimal methods could mimic the postural sway with higher accuracy and less energy consumption in the joints compared to the IPD method. Among optimal approaches, COP-BC and MPC show promising results to mimic the human postural sway. The choice of controller weights and parameters is a trade-off between the consumption of energy in the joints and the prediction accuracy. Therefore, the capability and (dis)advantage of each method reviewed in this article can navigate the usage of each controller in different applications of postural sway, from clinical assessments to robotic applications.

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Section: Discussionmentioning

confidence: 99%