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Article
Publication date: 1 December 1999

Philippe Gorce

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…

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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.

Details

Kybernetes, vol. 28 no. 9
Type: Research Article
ISSN: 0368-492X

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