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Updated: May 25, 2026
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Experimental Methods to Study Human Postural Control
Published on: September 11, 2019
Stability of a double inverted pendulum model during human quiet stance with continuous delay feedback control
Yasuyuki Suzuki1, Taishin Nomura, Pietro Morasso
1Graduate School of EngineeringScience, Osaka University, Toyonaka, Osaka 560-8531, Japan. suzuki@bpe.es.osaka-u.ac.jp
Summary
Human upright stance relies on continuous or intermittent neural feedback. A double inverted pendulum model shows continuous proportional-derivative (PD) control is insufficient for stabilizing stance, challenging the ankle strategy hypothesis.
Area of Science:
- Neuroscience
- Biomechanics
- Robotics
Background:
- The neural control of human upright quiet stance is debated, focusing on continuous versus intermittent feedback mechanisms.
- The ankle strategy hypothesis suggests ankle torque primarily stabilizes stance, often modeled using a single inverted pendulum.
Purpose of the Study:
- To analyze a double inverted pendulum model of human quiet stance.
- To evaluate the adequacy of continuous proportional and derivative (PD) delay feedback control as a neural mechanism for stance stabilization.
Main Methods:
- Analysis of a double inverted pendulum model representing human upright quiet stance.
- Simulation of continuous delay proportional and derivative (PD) feedback control within physiologically plausible gain ranges.
Main Results:
- Detailed measurements show hip joint fluctuations comparable to ankle joint fluctuations during natural postural sway.
- Continuous delay PD control with physiologically plausible gains is inadequate for stabilizing human upright quiet stance.
Conclusions:
- The conventional continuous delay PD control is insufficient as the sole neural mechanism for stabilizing human upright quiet stance.
- The ankle strategy hypothesis, relying solely on ankle torque, may be incomplete given observed hip sway during natural stance.
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