Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics

摘要

Human and humanoid posture control models usually rely on single or multiple degrees of freedom inverted pendulum representation of upright stance associated with a feedback controller. In models typically focused on the action between ankles, hips, and knees, the control of head position is often neglected, and the head is considered one with the upper body. However, two of the three main contributors to the human motion sensorium reside in the head: the vestibular and the visual system. As the third contributor, the proprioceptive system is distributed throughout the body. In human neurodegenerative brain diseases of motor control, like Progressive Supranuclear Palsy PSP and Idiopathic Parkinson's Disease IPD, clinical studies have demonstrated the importance of head motion deficits. This work specifically addresses the control of the head during a perturbed upright stance. A control model for the neck is proposed following the hypothesis of a modular posture control from previous studies. Data from human experiments are used to fit the model and retrieve sets of parameters representative of the behavior obtained in different conditions. The result of the analysis is twofold: validate the model and its underlying hypothesis and provide a system to assess the differences in posture control that can be used to identify the differences between healthy subjects and patients with different conditions. Implications for clinical pathology and application in humanoid and assistive robotics are discussed.