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Related Experiment Video

Updated: Jul 31, 2025

Experimental Methods to Study Human Postural Control
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Optimal controllers resembling postural sway during upright stance.

Hedyeh Jafari1, Thomas Gustafsson1

  • 1Control Engineering Group, Department of Computer Science, Electrical and Space Engineering, Luleå University of Technology, Luleå, Sweden.

Plos One
|May 2, 2023
PubMed
Summary

Optimized control methods like Model Predictive Control (MPC) and COP-Based Controller (COP-BC) better mimic human postural sway than traditional Intermittent Proportional Derivative (IPD) models. These advanced approaches offer higher accuracy and reduced energy use for balance control.

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Area of Science:

  • Biomechanics and Control Systems Engineering
  • Human Postural Control and Balance
  • Robotics and Clinical Applications

Background:

  • Human balance relies on a complex postural control system, challenging to model accurately for clinical use.
  • Existing models like Intermittent Proportional Derivative (IPD) lack adaptability and do not account for physiological constraints.
  • Need for advanced control models that mimic human predictability, adaptability, and physical limitations in maintaining upright stance.

Purpose of the Study:

  • To investigate and compare optimization-based algorithms for mimicking human postural sway control.
  • To evaluate the performance of Model Predictive Control (MPC), COP-Based Controller (COP-BC), and Momentum-Based Controller (MBC) against a traditional IPD model.
  • To assess the accuracy and energy efficiency of these controllers in simulating human balance.

Main Methods:

  • Simulated a double-link inverted pendulum model of the human skeletal system.
  • Incorporated sensory noise and neurological time delays into the control system simulations.
  • Validated simulation results against quiet stance postural sway data from ten human subjects.

Main Results:

  • Optimization-based methods demonstrated superior accuracy and reduced joint energy consumption compared to the IPD method.
  • COP-Based Controller (COP-BC) and Model Predictive Control (MPC) showed particularly promising results in mimicking human postural sway.
  • A trade-off exists between prediction accuracy and energy consumption, influenced by controller weights and parameters.

Conclusions:

  • Advanced optimal control strategies effectively replicate human postural sway dynamics.
  • COP-BC and MPC are strong candidates for developing more sophisticated balance control systems.
  • Understanding controller trade-offs is crucial for selecting appropriate methods in clinical and robotic applications.