A Structurally Optimal Control Model for Predicting and Analyzing Human Postural Coordination

Vincent Bonnet 1 Sofiane Ramdani 2 Philippe Fraisse 3 Nacim Ramdani 4, 1 Julien Lagarde 2 Benoit Bardy 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : This paper proposes a closed-loop optimal control model predicting changes between in-phase and anti-phase postural coordination during standing and related supra-postural activities. The model allows the evaluation of the influence of body dynamics and balance constraints onto the adoption of postural coordination. This model minimizes the instantaneous norm of the joint torques with a controller in the head space, in contrast with classical linear optimal models used in the postural literature and defined in joint space. The balance constraint is addressed with an adaptive ankle torque saturation. Numerical simulations showed that the model was able to predict changes between in-phase and anti-phase postural coordination modes and other non-linear transient dynamics phenomena.
Type de document :
Article dans une revue
Journal of Biomechanics, Elsevier, 2011, 44 (11), pp.2123-2128. 〈10.1016/j.jbiomech.2011.05.027〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00609097
Contributeur : Philippe Fraisse <>
Soumis le : lundi 18 juillet 2011 - 11:21:42
Dernière modification le : lundi 16 juillet 2018 - 16:02:09

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Vincent Bonnet, Sofiane Ramdani, Philippe Fraisse, Nacim Ramdani, Julien Lagarde, et al.. A Structurally Optimal Control Model for Predicting and Analyzing Human Postural Coordination. Journal of Biomechanics, Elsevier, 2011, 44 (11), pp.2123-2128. 〈10.1016/j.jbiomech.2011.05.027〉. 〈lirmm-00609097〉

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