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A cybernetical method for simulating the dynamic erect stance posture control under perturbation

Philippe Gorce

Kybernetes

ISSN: 0368-492X

Article publication date: 1 December 1999

266

Abstract

In this paper, we propose a general cybernetical approach for simulating the erect stance posture control under perturbation (postural adjustment and postural reaction). For that, a reasonably complicated biomechanical model of a human body is proposed with a general motor control architecture. This cybernetical modelling method solves the body dynamic equilibrium and the trajectories tracking problems using a strategy based on the “Trunk center of mass acceleration control” and on a force distribution on each leg and each arm. The motor control scheme is composed of two levels: the “coordinator” level devoted to control legs and arms movements (trajectories tracking) and a global equilibrium of the body and “limbs” level which ensures the dynamic control of the limbs. Simulation results have been proposed to validate this cybernetical method.

Keywords

Citation

Gorce, P. (1999), "A cybernetical method for simulating the dynamic erect stance posture control under perturbation", Kybernetes, Vol. 28 No. 9, pp. 1042-1053. https://doi.org/10.1108/03684929910300240

Publisher

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MCB UP Ltd

Copyright © 1999, MCB UP Limited

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