NDLI: A PID Model of Balance Keeping Control and Its Application to Stability Assessment

Content Provider	IEEE Xplore Digital Library
Author	Jiang, Y. Kimura, H.
Copyright Year	2006
Description	Author affiliation: Biol. Control Syst. Lab., RIKEN, Nagoya (Jiang, Y.; Kimura, H.)
Abstract	The aim of this study is to establish a PID model of balance keeping control during static upright standing to elucidate the possible mechanism of body sway, and to apply this to balance stability assessment especially concerning the roles of pelvis and its muscles. The dynamic model includes five joints, i.e. two ankles, two hips and one lumbosacral joint makes up a multi-link system, and is driven by two pairs of muscles, the psoas major (PM) and glutaeus medius (GM). Ankle and lumbosacral joint sway in almost the same amplitude, whereas, their phase difference being approximately equal to pi. The result suggests that the trunk is maintaining its stance perpendicular to horizon. By applying human physical parameters to the model the body sways and its spectral response can be simulated. The simulated results are quite agree with the experimentally recorded both in body sway and in spectral response. It is suggest that balance keeping in upright standing can be fulfilled on this PID controller, and this model can be applied to individual body stability assessment
Starting Page	5925
Ending Page	5930
File Size	643699
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282474
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Three-term control Stability Biological system modeling Muscles Pelvis Humans Biological control systems Joining processes Frequency Joints
Content Type	Text
Resource Type	Article

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