Constrained Inverted Pendulum Model For Evaluating Upright Postural Stability

[+] Author and Article Information
H. Hemami, A. Katbab

Department of Electrical Engineering, The Ohio State University, Columbus, Ohio 43210

J. Dyn. Sys., Meas., Control 104(4), 343-349 (Dec 01, 1982) (7 pages) doi:10.1115/1.3139720 History: Received August 31, 1981; Online July 21, 2009


The human torso motion about its upright position is analyzed and modeled by a feedback system where the ground reaction forces and constraint torques are explicitly computed. Further, Euler angles and body angular velocities are selected as state variables to simplify the dynamics. The general stability of this system is considered via Lyapunov’s second method. Two methods of preventing self rotation are discussed: Linear feedback law and holonomic torque constraints. The stability solution is verified by digital computer simulation.

Copyright © 1982 by ASME
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