Postural Control
Human upright stance
Purpose
The principals of human upright stance are model in a two-link robot. Thereby voluntary movements superimpose to reactive movements.
Description
The human upright stance is inherently unstable. How can humans maintaining equilibrium?
In our approach we suggest that information’s from the sensors (vestibular, propriocetion etc.) are combined to an estimation of the external disturbance.
Previous studies investigate and model human postural control in a biped robot (like an inverted pendulum). Now we want to model postural control in a two-link robot (inverted double-pendulum). In experiments we test the human reactions to external disturbances (e.g. translation of foot support surface). With these data we build a two-link robot and test it in the same experimental design.
In the next steps we combined reactive movements with voluntary goal-oriented movements. First with experiment on subjects, second a software-model and finally the “proof of principle” with the robot.
The results of these studies help for a better understanding of the control of human upright stance.
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