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A Vibrotactile Feedback Device for Seated Balance Assessment and Training
09:13

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Published on: January 20, 2019

Predictive feedback in human simulated pendulum balancing.

Peter Gawthrop1, Ian Loram, Martin Lakie

  • 1Department of Mechanical Engineering, Centre for Systems and Control, University of Glasgow, Glasgow G12 8QQ, UK. P.Gawthrop@eng.gla.ac.uk

Biological Cybernetics
|July 10, 2009
PubMed
Summary
This summary is machine-generated.

Human balance control requires predictive processes, not just simple delayed feedback. Non-predictive models inaccurately estimate time delays, failing to explain balance dynamics effectively.

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Area of Science:

  • Human motor control
  • Systems neuroscience
  • Robotics and control theory

Background:

  • Studies on human balance often use delayed feedback models, with parameters like time-delay and gain.
  • This approach is sometimes interpreted as evidence against the need for predictive processes in balance control.
  • However, the reliability of time-delay estimates and the validity of non-predictive models remain questionable.

Purpose of the Study:

  • To investigate the reliability of time-delay estimates from delayed feedback models in human balance.
  • To determine if non-predictive controllers can adequately explain standing balance data.
  • To compare predictive and non-predictive control models for explaining human balance dynamics.

Main Methods:

  • Human balancing of a simulated inverted pendulum using joystick and screen interface.
  • A two-step analysis: non-parametric estimation of closed-loop impulse response, followed by parametric model fitting.
  • Derivation of a new formula relating controller parameters to impulse response for fitting.
  • Investigation of both non-predictive and predictive controllers within a state-space framework.

Main Results:

  • Time-delay estimates are highly dependent on the assumed controller type (predictive vs. non-predictive).
  • Non-predictive control assumptions yield smaller time-delay estimates, inconsistent with non-parametric model lower bounds.
  • Predictive control models provide a better fit and are consistent with independently estimated time delays.

Conclusions:

  • Time-delay estimation should be independent of low-order parametric model fitting.
  • Non-predictive control models fail to adequately explain simulated inverted pendulum balance.
  • Predictive control offers a superior explanation for human balance compared to non-predictive models.