An optimal control model for human postural regulation

  • Authors:

  • Yao Li;William S. Levine

  • Affiliations:

  • Department of Electrical and Computer Engineering, University of Maryland at College Park, MD;Department of Electrical and Computer Engineering, University of Maryland at College Park, MD

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

This paper proposes a convex optimal control problem as a mathematical model of human postural control during quiet standing. The human body is modeled as a two-segment inverted pendulum controlled by a single ankle torque. Several performance criteria that are quartic in the state and quadratic in the control are utilized. The discrete-time approximation to each of these problems is a convex programming problem. These problems were solved by the Newton-KKT method. The solutions are shown to exhibit many of the experimentally observed postural control phenomena, especially greater sway than would occur with a linear feedback control without delay.