Reaction null-space filter: extracting reactionless synergies for optimal postural balance from motion capture data
D N Nenchev1, Y Miyamoto1, H Iribe1
1a Graduate School of Engineering , Tokyo City University , Tokyo , Japan .
Computer Methods in Biomechanics and Biomedical Engineering
|August 15, 2015
Summary
This study introduces reactionless synergies for optimal balance control. These movement strategies maintain foot force balance, ensuring stability throughout motion and aiding in assessing balance abnormalities.
Area of Science:
- Biomechanics
- Human Movement Analysis
- Robotics
Background:
- Optimal balance control is crucial for human movement and stability.
- Conventional models often assume fixed feet, limiting explicit analysis of ground reaction forces.
- Understanding postural variations is key to assessing balance control and abnormalities.
Purpose of the Study:
- Introduce the concept of reactionless synergy for optimal balance.
- Develop a dynamical model to derive and analyze reactionless synergies.
- Apply the method to motion capture data for voluntary movements.
Main Methods:
- Derived reactionless synergies using a dynamical model with unfixed feet.
- Employed a joint-space decomposition to separate motion components.
- Analyzed motion capture data from squat, sway, and forward bend movements.
Main Results:
- Reactionless synergies were identified as a feedforward control component for optimal balance.
- The dynamical model explicitly revealed foot reactions, unlike fixed-feet models.
- The method successfully analyzed voluntary movements in the sagittal plane.
Conclusions:
- Reactionless synergies offer a novel approach to understanding and achieving optimal balance control.
- This framework can be valuable for evaluating balance abnormalities and movement optimality.
- The proposed dynamical model provides explicit insights into the mechanics of human balance.
