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)

[thumbnail of Manuscript_FinShrt_RevFinV2.pdf] PDF

Download (1MB)


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

Actions (login required)

View Item View Item