Related papers: A Pinned Polymer Model of Posture Control
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…
A model system inspired by recent experiments on the dynamics of a folded protein under the influence of a sinusoidal force is investigated and found to replicate many of the response characteristics of such a system. The essence of the…
Posture is an essential aspect of motor behavior, necessitating continuous muscle activation to counteract gravity. It remains stable under perturbation, aiding in maintaining bodily balance and enabling movement execution. Similarities…
Posture control and balance are basic requirements for a humanoid robot performing motor tasks like walking and interacting with the environment. For this reason, posture control is one of the elements taken into account when evaluating the…
Balance control is important for human and bipedal robotic systems. While dynamic balance during locomotion has received considerable attention, quantitative understanding of static balance and falling remains limited. This work presents a…
We study the dynamics of a tagged monomer of a Rouse polymer for different initial configurations. In the case of free evolution, the monomer displays subdiffusive behavior with strong memory of the initial state. In presence of either…
Human posture control models are used to analyse neurological experiments and control of humanoid robots. This work focuses on a well-known nonlinear posture control model, the DEC (Disturbance estimate and Compensation). In order to…
The musculoskeletal humanoid is difficult to modelize due to the flexibility and redundancy of its body, whose state can change over time, and so balance control of its legs is challenging. There are some cases where ordinary PID controls…
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of balancing upright stance while performing voluntary…
Based on the convex force-motion polynomial model for quasi-static sliding, we derive the kinematic contact model to determine the contact modes and instantaneous object motion on a supporting surface given a position controlled…
The present paper introduces an original biofeedback system for improving human balance control, whose underlying principle consists in providing additional sensory information related to foot sole pressure distribution to the user through…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
In this article we discuss a set of geometric ideas which shed some light on the question of directed polymer pinning in the presence of bulk disorder. Differing from standard methods and techniques, we transform the problem to a particular…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
The application of biomechanic and motor control models in the control of bidedal robots (humanoids, and exoskeletons) has revealed limitations of our understanding of human locomotion. A recently proposed model uses the potential energy…
Similarly to humans, humanoid robots require posture control and balance to walk and interact with the environment. In this work posture control in perturbed conditions is evaluated as a performance test for humanoid control. A specific…
Physical Human-Machine Interaction plays a pivotal role in facilitating collaboration across various domains. When designing appropriate model-based controllers to assist a human in the interaction, the accuracy of the human model is…
Elastic properties and internal states of isotropic sphere packings are studied by numerical simulations. Several numerical protocols to assemble dense configurations are compared. One, which imitates experiments with lubricated contacts,…
Although ankle injuries resulting from postural instability are frequently observed during high-speed and intense physical activities, most current research has been limited to static or quasi-static models of the lower limb, or has focused…
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation). Its inherently modular structure could potentially lead to…