Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles IEEE Access Year : 2020

Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy

Mitsuhiro Hayashibe


The purpose of this study is to implement a human-like balance recovery controller and analyze its robustness and energy consumption. Three main techniques to maintain balance can be distinguished in humans, namely (i) the ankle strategy, (ii) the hip-ankle strategy, (iii) the stepping strategy. Because we only consider quiet standing balance, then stepping is not included in our balance recovery study. Numerical model predictive control (N-MPC) is proposed to predict the best way to maintain balance against various disturbance forces. To simulate balance recovery, we build a three-link model including a foot with unilateral constraints, the lower body, and the upper body. Subsequently, we derive the dynamical equations of the model and linearize them. Based on human balance capabilities, we set bound constraints on our model, including angles and balance torques of the ankle and hip. Unilateral constraints are set on the foot, which makes our model more similar to the human quiet standing case. Finally, we implemented a simulation of the proposed ankle and hip-ankle strategy in simulation and analyzed the obtained results from kinematic and dynamic indices as well as from an energy consumption perspective. The robustness of the proposed controller was verified through the obtained simulation results. Thus, this study provides a better understanding of human quiet standing balance that could be useful for rehabilitation.
Fichier principal
Vignette du fichier
Appeared_IEEE_Access.pdf (2.43 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

lirmm-02610501 , version 1 (17-05-2020)





Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe. Human-like Balance Recovery Based on Numerical Model Predictive Control Strategy. IEEE Access, 2020, 8, pp.92050-92060. ⟨10.1109/ACCESS.2020.2995104⟩. ⟨lirmm-02610501⟩
105 View
93 Download



Gmail Facebook Twitter LinkedIn More