A structurally optimal control model for predicting and analyzing human postural coordination

► A closed-loop optimal control model of postural coordination paradigm is proposed. ► Jacobian pseudoinverse matrix minimizes instantaneous joint torque norm. ► Adaptive ankle torque saturation ensures dynamical balance. ► Influence of postural system dynamics and task constraints are studied. ► Non-linear features of postural coordination, such as hysteresis, are reproduced.