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IEEE Transactions on Neural Systems and Rehabilitation Engineering
Article . 2020 . Peer-reviewed
License: IEEE Copyright
Data sources: Crossref
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DIGITAL.CSIC
Article . 2025 . Peer-reviewed
Data sources: DIGITAL.CSIC
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Lirias
Article . 2020
Data sources: Lirias
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Can Momentum-Based Control Predict Human Balance Recovery Strategies?

Authors: C. Bayon; A. R. Emmens; M. Afschrift; T. Van Wouwe; A. Q. L. Keemink; H. van der Kooij; E. H. F. van Asseldonk;

Can Momentum-Based Control Predict Human Balance Recovery Strategies?

Abstract

Human-like balance controllers are desired for wearable exoskeletons in order to enhance human-robot interaction. Momentum-based controllers (MBC) have been successfully applied in bipeds, however, it is unknown to what degree they are able to mimic human balance responses. In this paper, we investigated the ability of an MBC to generate human-like balance recovery strategies during stance, and compared the results to those obtained with a linear full-state feedback (FSF) law. We used experimental data consisting of balance recovery responses of nine healthy subjects to anteroposterior platform translations of three different amplitudes. The MBC was not able to mimic the combination of trunk, thigh and shank angle trajectories that humans generated to recover from a perturbation. Compared to the FSF, the MBC was better at tracking thigh angles and worse at tracking trunk angles, whereas both controllers performed similarly in tracking shank angles. Although the MBC predicted stable balance responses, the human-likeness of the simulated responses generally decreased with an increased perturbation magnitude. Specifically, the shifts from ankle to hip strategy generated by the MBC were not similar to the ones observed in the human data. Although the MBC was not superior to the FSF in predicting human-like balance, we consider the MBC to be more suitable for implementation in exoskeletons, because of its ability to handle constraints (e.g. ankle torque limits). Additionally, more research into the control of angular momentum and the implementation of constraints could eventually result in the generation of more human-like balance recovery strategies by the MBC.

Countries
Belgium, Netherlands, Spain
Keywords

SELECTION, DYNAMICS, Balance, Technology, MOTION, Acceleration, Biomedical Engineering, Human-Robot interaction, Perturbation methods, Exoskeletons, human-robot interaction, Motion, Engineering, 0903 Biomedical Engineering, Control, Humans, ADAPTATION, Engineering, Biomedical, Postural Balance, 4003 Biomedical engineering, Science & Technology, Hip, HIP, MOVEMENTS, 4007 Control engineering, mechatronics and robotics, Rehabilitation, exoskeleton, 22/2 OA procedure, ANKLE, Computational modeling, Biomechanical Phenomena, MODEL, Exoskeleton, 0906 Electrical and Electronic Engineering, Thigh, Torque, Ankle, Life Sciences & Biomedicine, Robots, control, INTEGRATION, RESPONSES

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
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