An inverted double-pendulum model of standing has been used to date to study some basic control issues. Using a constant feedback gain as a controller to stabilize a linear representation of this inherently unstable system, we found that the simulated nonlinear system's response was virtually the same as the linear system's one when initial joint offsets from the vertical were imposed. It was also found that this feedback control law functioned well when external disturbances simulating hand-held objects were applied. System response was very sensitive, however, to underestimation of body segment parameters. Finally, we have developed for future use an analytic expression suited to modelling muscle dynamics associated with neural pulse train activation.
|Number of pages||3|
|Publication status||Published - 1986|