ANAYSIS AND CONTROL DESIGN FOR HUMAN POSTURAL BALANCING SYSTEMS

The aim of this paper is to characterize a mathematical model including canal-otolith interaction to describe biological interaction of the human upright standing posture and biological characteristics. The model explains and describes subjective vertical orientation and angular velocity induced static tilt. On the basis of the model a state feedback control law is presented to assist the balance of the human's standing posture that is interfered by subjective verticals. The subjective verticals involving the subjective visual and postural verticals are treated as the external disturbance, and a robust control law is developed to guarantee the posture stability while there is plant uncertainties caused by the effect of vertigo.