Modelling human balance using switched systems with linear feedback control
Modelling human balance using switched systems with linear feedback control
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DOI：
10.1098/rsif.2011.0212
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发表时间：
2012-02-07
影响因子：
3.9
通讯作者：
Shapiro, Jonathan
中科院分区：
文献类型：
--
作者：
Kowalczyk, Piotr;Glendinning, Paul;Shapiro, Jonathan
我们感兴趣的是了解背后的机制和健康的人体受试者在安静的站立摇摆运动的特点。我们假设人体可以被建模为单连杆倒立摆，并使用线性反馈控制来实现平衡。使用这些假设，我们推导出一个切换模型，然后我们调查。发现了系统关于竖直位置的稳定周期运动（极限环），并研究了极限环的存在性随系统参数的变化。参数空间的探索导致了多稳定性和同宿分岔的检测。
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.