적응 제어 기법을 이용한 발목 근육 움직임의 안정적인 균형을 위한 모델링 및 제어

The purpose of this study is the identification and control of ankle muscles in the stabilization of balance in quiet standing. The study consist of system identification based on the data of measured COM(center of mass) during quiet standing, and control by using adaptive control method based on the model. The result shows that it is possible to control stiffness exactly with the optimum parameters that is gotten by system identification. Precise modeling is difficult because the structure of the ankle muscle is a non-linear and multivariable system. But our model of stiffness control during quiet standing also suggests the possibility that the structure of the human body can be modeled by using advanced control method.