Human postural feedback response described by eigenvector = 고유벡터를 이용한 인체 균형제어 해석

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Human postural responses appeared to have stereotyped modality, such as ankle mode, knee mode, and hip mode in response to various perturbations. We examined whether human postural control gain of full-state feedback could be decoupled along with the eigenvector. To verify the model, postural responses subjected to fast backward perturbation were analyzed. Upright posture was modeled as 3-segment inverted pendulum incorporated with feedback control, and joint torques were calculated using inverse dynamics. Postural modalities, such as ankle, knee, and hip mode, were obtained from eigenvectors of biomechanical model. As oppose to the full-state feedback control, independent eigenvector control assumes that modal control input is determined by the linear combination of corresponding modality. We used optimization method to obtain and compare the feedback gains for both independent eigenvector control and full-state feedback control. As a result, we found that both feedback gains of two control models that fit the joint angle and 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, and this concept could be applied to explain torque feedback mechanism ruled by central nervous system.
Advisors
Park, Su-Kyungresearcher박수경researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2007
Identifier
264148/325007  / 020053095
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2007.2, [ vii, 53 p. ]

Keywords

human balance feedback control eigenvector; 고유벡터 인체 균형제어

URI
http://hdl.handle.net/10203/45522
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=264148&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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