Name
Title | ||
|---|---|---|
Stance postural control of a musculoskeletal model able to compensate neurological time delay |
Abstract | ||
|---|---|---|
Neurological time delay is one of the important elements threatening human postural stability. Previous studies mainly focused on the neural controller to stabilize a human size inverted pendulum model. What kind of postural control mechanism is necessary for compensating neurological time delay by controlling muscles still remains a question. This research proposed to investigate whether a stance control model with constant feed-forward control input to muscles will enable the musculoskeletal model to stand when neurological time delay exists. A musculoskeletal model with 70 muscular-tendon actuators was used to represent the human body. We hypothesized that stance postural control model consists of both feedback and feed-forward control. And the latter one is a pre-added constant control input, necessary to keep musculoskeletal model standing when there is no neurological time delay, to the muscles for compensating neurological time delay. We calculated feed-forward controls and found the longest neurological time delay it could compensate. As a result, we succeeded in keeping a musculoskeletal model standing when neurological time delay was 65ms at most, where transmission time delay was 45ms and activation dynamics time delay was 20ms. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ROBIO.2014.7090484 | ROBIO |
Keywords | Field | DocType |
stance postural control,feedforward,medical control systems,delay systems,time 20 ms,muscular-tendon actuators,musculoskeletal model,bone,neurological time delay compensation,feedback,time 65 ms,feedback control,time 45 ms,actuators,compensation,stability,human postural stability,constant feed-forward control input | Postural stability,Inverted pendulum,Control theory,Control engineering,Postural control,Neural network controller,Engineering,Transmission time delay | Conference |
Citations | PageRank | References |
1 | 0.48 | 4 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ping Jiang | 1 | 1 | 2.51 |
| Ryosuke Chiba | 2 | 51 | 13.26 |
| Kaoru Takakusaki | 3 | 12 | 6.95 |
| Jun Ota | 4 | 527 | 109.77 |