Modelling human balance using switched systems with linear feedback control

Kowalczyk, Piotr and Glendinning, Paul and Brown, Martin and Medrano-Cerda, Gustavo and Dallali, Houman and Shapiro, Jonathan (2011) Modelling human balance using switched systems with linear feedback control. Journal of the Royal Society Interface. ISSN 1742-5689 (Submitted)

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Abstract

We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing with eyes closed. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using liner feedback control. Using these assumptions we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multistability and homoclinic bifurcations

Item Type: Article
Uncontrolled Keywords: CICADA
Subjects: PACS 2010, the AIP's Physics and Astronomy Classification Scheme > 00 GENERAL PHYSICS > 05 Statistical physics, thermodynamics, and nonlinear dynamical systems
Depositing User: Ms Lucy van Russelt
Date Deposited: 11 Nov 2010
Last Modified: 20 Oct 2017 14:12
URI: http://eprints.maths.manchester.ac.uk/id/eprint/1540

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