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- W2914671389 abstract "Postural balance and stability is a complex neuromuscular task and it requires coordination among different limbs and body parts. The maintenance of balance in upright stance isn't yet completely comprehended and difficulties because of insufficiency in the postural control are of significant concern. The postural control mechanism combines highly nonlinear musculoskeletal structure together with neural control and tactile system in human body. Searching for a model for a more noteworthy comprehension of human postural control framework, this paper displays another computational model committed to the investigation of human upright stance. In this paper we propose a nonlinear control method in light of feedback linearization to imitate the control activity of central nervous system (CNS) in support of postural balance. We use 4-segments biomechanical model with 3 degrees-of-freedom and with rotation about ankle, knee and hip joints. The output feedback is computed with feedback linearization augmented with LQR. The feedback gains are optimized with physiological relevant optimization based on center of mass (COM) and ground reaction forces (GRF). The active and passive torques involved in postural stabilization are computed from reference trajectories and output feedbacks respectively. These torque profiles settle the motion profiles within human anatomical constraints." @default.
- W2914671389 created "2019-02-21" @default.
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- W2914671389 date "2018-12-01" @default.
- W2914671389 modified "2023-09-23" @default.
- W2914671389 title "Postural Control During Standing Posture For Small Perturbations With Feedback Linearization" @default.
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