Generation of biped stance motion in consideration of neurological time delay through forward dynamics simulation

In order to understand insights into human stance postural control mechanism, generation of biped stance motion in consideration of both muscles and neurological time delay is important. In this paper, we proposed a neural controller composed by feed-forward and feedback control to keep a musculoskeletal model with 70 muscles standing when neurological time delay is 100 ms. Through the optimization, we obtained the parameters of proposed controller able to keep musculoskeletal model standing.

[1]  Matthew Millard,et al.  Flexing computational muscle: modeling and simulation of musculotendon dynamics. , 2013, Journal of biomechanical engineering.

[2]  Herman van der Kooij,et al.  A multisensory integration model of human stance control , 1999, Biological Cybernetics.

[3]  Yasuyuki Suzuki,et al.  Intermittent control with ankle, hip, and mixed strategies during quiet standing: a theoretical proposal based on a double inverted pendulum model. , 2012, Journal of theoretical biology.

[4]  Jeffrey A. Reinbolt,et al.  Biarticular muscles influence postural responses: implications for treatment of stiff-knee gait , 2011 .

[5]  Tim Kiemel,et al.  Control and estimation of posture during quiet stance depends on multijoint coordination. , 2007, Journal of neurophysiology.

[6]  Nikolaus Hansen,et al.  Adapting arbitrary normal mutation distributions in evolution strategies: the covariance matrix adaptation , 1996, Proceedings of IEEE International Conference on Evolutionary Computation.

[7]  K. N. Dollman,et al.  - 1 , 1743 .

[8]  Milos R Popovic,et al.  Controlling balance during quiet standing: proportional and derivative controller generates preceding motor command to body sway position observed in experiments. , 2006, Gait & posture.

[9]  Jun Ota,et al.  Stance postural control of a musculoskeletal model able to compensate neurological time delay , 2014, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014).

[10]  Bastiaan R Bloem,et al.  A weak balance: the contribution of muscle weakness to postural instability and falls , 2008, Nature Clinical Practice Neurology.

[11]  R. Peterka.  Sensorimotor integration in human postural control. , 2002, Journal of neurophysiology.