NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL

Karim Tahboub, Thomas Mergner, Christoph Ament

Abstract

This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion.

References

  1. Johansson R, Magnusson M (1991) Human postural dynamics. Biomed Eng 18:413-437
  2. Horak FB, Macpherson JM (1996) Postural orientation and equilibrium. In: Rowell L, Shepherd J (eds) Handbook of physiology, 1, exercise: regulation and integration of multiple systems. Oxford University Press, New York, pp 255-292
  3. Mergner T, Maurer C, Peterka RJ (2003) A multisensory posture control model of human upright stance. In: Prablanc C, Pé lesson D, Rossetti Y (eds) Neural control of space coding and action production. Prog Brain Res 142:189-201
  4. Maurer C, Mergner T, Peterka R.J (2005) Multisensory control of human upright stance. Exp Brain Res DOI 10.1007./s00221-005-0526-y
  5. van der Kooij H, Jacobs R, Koopman B. van der Helm F (2001) An adaptive model of sensory integration in a dynamics environment applied to human stance contro. Biol. Cybern. 84, 103-115
Download


Paper Citation


in Harvard Style

Tahboub K., Mergner T. and Ament C. (2006). NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 42-49. DOI: 10.5220/0001216000420049


in Bibtex Style

@conference{icinco06,
author={Karim Tahboub and Thomas Mergner and Christoph Ament},
title={NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={42-49},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001216000420049},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL
SN - 978-972-8865-60-3
AU - Tahboub K.
AU - Mergner T.
AU - Ament C.
PY - 2006
SP - 42
EP - 49
DO - 10.5220/0001216000420049