Human postural feedback response described by eigenvector

Abstract

Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode, and hip mode in response to various levels of postural challenges. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvectors. To verify the model, postural responses subjected to fast backward perturbation were used. Upright posture was modeled as 3-segment inverted pendulum incorporated with linear feedback control, and joint torques were calculated using inverse dynamics. Postural modalities, such as ankle, knee and hip mode, were obtained from eigenvectors of biomechanics model. As oppose to the full-state feedback control, independent modal control assumes that modal control input is determined by the linear combinations of corresponding modality. We used linear regression to obtain and compare the feedback gains for both eigenvector control gain and full-state feedback. As a result, we found that both feedback gains of two control models that fit the joint torque data are reasonably closed each other especially at the joint angle feedback gains. This implies that the simple parameterization using eigenvectors may be used to correlate the feedback gains of full-state feedback control.