Effect of intermittent feedback control on robustness of human-like postural control system.
Effect of intermittent feedback control on robustness of human-like postural control system.
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DOI：
10.1038/srep22446
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发表时间：
2016-03-02
影响因子：
4.6
通讯作者：
Kouzaki M
中科院分区：
文献类型：
--
作者：
Tanabe H;Fujii K;Suzuki Y;Kouzaki M
人类必须获得姿势健壮性，以保持对内部和外部扰动的稳定性。最近，使用间歇反馈控制对人类站立进行了建模。然而，与神经控制策略相关的闭环系统姿态控制系统内部的因果关系仍然未知。在这里，我们考察了间歇反馈控制对姿势稳健性的影响，以及主动/被动成分变化对关节协调结构的影响。我们实现了一个四级倒立摆的计算机仿真，该倒立摆在机械上接近人类的脚尖站立。我们模拟了三对关节的粘弹性和每个关节的三种神经控制策略：间歇控制、连续控制或被动控制。我们通过分析主动反馈增益的区域来检验每个参数集的姿势稳健性。我们发现髋关节的间歇控制对于模型稳定是必要的，并且模型参数影响摆的稳健性。摆模型的关节摆动部分小于或接近于实验数据。综上所述，间歇反馈控制对于四级倒立摆的稳定是必要的。同时，通过被动关节粘弹性和神经关节控制策略，实现了类人多连杆站立的姿态鲁棒性。
Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.