Balance of emulated MDOF human postural systems

The analytical understanding and applications of human postural balance could possibly be extended to understand the postural sway. On the basis of a human body model with nine segments and articulations at the neck, waist, hip, knee, and ankle, a two-stage feedback control law to remain the human body’s upright posture subjected to the subjective verticals is developed. The movement equations for a 24 DOFs body model are determined first. A hybrid control law is then developed for balancing. For the controller, the primary part is designed to track the desired reference trajectory, and the secondary part is developed to compensate for the influences due to modeling uncertainties and external disturbances. The results developed herein are to be served as a basis for stance posture control of bionic robots or motion-aid robots.