NDLI: Quantitative Analysis of the Ankle Strategy Under Translational Platform Disturbance

Content Provider	IEEE Xplore Digital Library
Author	Hemami, H. Barin, K. Yi-Chung Pai
Copyright Year	2001
Abstract	The ankle strategy is one of the postural adjustment maneuvers humans utilize when the support platform is disturbed. This paper presents a quantitative analysis of the ankle strategy. A three-link sagittal biped model is considered. The first link represents the two legs locked together. The second link represents the two thighs locked together. The third link represents the hip, the torso, the upper limbs, the neck, and the head. The dynamics, control, and stability of the three-link biped, under platform translation, are considered. The disturbance of the platform is represented as an input and the effect of the muscular system is reduced to a set of torques applied to the joints and across the joints. Two digital computer simulations are presented to demonstrate the behavior of the biped under backward or forward platform disturbance. The simulations are compared with experimental measurements of humans subjected to postural disturbances. It is shown that the effect of a horizontal disturbance at the ankle appears to be about 40 times that of the effect of the disturbance at the knees and at least a few hundred times larger than the effect of a disturbance at the hip. This means that, under translational platform disturbance, the ankle angle is subjected to the largest excursion. The knee and the hip angle excursions are relatively minor. Consequently, the biped, as a whole, appears to move as a single inverted pendulum. Major postural corrections are initiated by the ankle excursion. Further, when the available ankle torque is limited or nonexistent, the stability requires resorting to the knee or hip strategies
Sponsorship	IEEE Engineering in Medicine and Biology Society
Page Count	11
File Size	919210
Starting Page	470
Ending Page	480
File Format	PDF
ISSN	15344320
Volume Number	14
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-01-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hip Knee Humans Stability Leg Thigh Torso Neck Computer simulation Computational modeling stability Balance recovery muscle synergies balance control platform disturbance postural adjustments postural strategies sagittal biped dynamics slipping
Content Type	Text
Resource Type	Article
Subject	Neuroscience Rehabilitation Internal Medicine Biomedical Engineering Computer Science Applications

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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