Stabilization strategies for unstable dynamics |
| |
| Affiliation: | 1. Istituto Italiano di Tecnologia, Department of Robotics, Brain and Cognitive Sciences, Genoa, Italy;2. University of Genoa, Department of Informatics, Bioengineering, Robotics and Systems Engineering, Genoa, Italy;3. Department of Bioengineering, Graduate School of Engineering Science, Osaka University, Toyonaka, Japan;1. Department of Rehabilitation, Sagamihara Chuo Hospital, 6-4-20, Fujimi, Chuo-ku, Sagamihara, Kanagawa, Japan;2. Department of Rehabilitation, Toho University Omori Medical Center, 6-11-1, Omori-Nishi, Ota-ku, Tokyo, Japan;3. Department of Exercise Physiology and Biomechanics, Faculty of Medicine, School of Medicine, Toho University, 5-21-16, Omori-Nishi, Ota-ku, Tokyo, Japan;4. Department of Physical Therapy, Tokyo University of Technology, 5-23-22, Nishi-Kamata, Ota-ku, Tokyo, Japan;5. Department of Exercise Physiology, School of Pharmacy, Tokyo University of Pharmacy and Life Sciences, 1432-1, Horinouchi, Hachioji, Tokyo, Japan;6. Department of Rehabilitation, School of Allied Health Science, Kitasato University, 1-15-1, Kitasato, Minami-ku, Sagamihara, Kanagawa, Japan;1. Departments of Neurology, School of Medicine, University of Patras, Patras, Greece;2. Departments of Spinal Cord Lesions Rehabilitation, School of Medicine, University of Patras, Patras, Greece;3. Departments of Medical Physics, School of Medicine, University of Patras, Patras, Greece;1. School of Health and Human Sciences, Southern Cross University, Lismore, NSW, Australia;2. Human Performance Laboratory, University of Calgary, Calgary, Alberta, Canada;1. Laboratorio Integrativo de Biomecánica y Fisiología del Esfuerzo (LIBFE), Kinesiology School, Faculty of Medicine, Universidad de los Andes, Santiago, Chile;2. Centro de Estudios del Movimiento Humano, Kinesiology School, Faculty of Medicine, Universidad Mayor, Santiago, Chile |
| |
| Abstract: | The stabilization of the human standing posture was originally attributed to the stiffness of the ankle muscles but direct measurements of the ankle stiffness ruled out this hypothesis, leaving open the possibility for a feedback stabilization strategy driven by proprioceptive signals. This solution, however, could be implemented with two different kinds of control mechanisms, namely continuous or intermittent feedback. The debate is now settled and the latter solution seems to be the most plausible one. Moreover, stabilization of unstable dynamics is not limited to bipedal standing. Indeed many manipulation tasks can be described in the same framework and thus a very general protocol for addressing this kind of problems is the use of haptic virtual reality where instability is generated by some kind of divergent or saddle-like force field. Several studies demonstrated that human subjects can choose to adopt a stiffness or feedback strategy as a combination of biomechanical and task constraints and can learn to switch from one strategy to the other if it is feasible or to use one or the other is infeasible. Understanding such mechanisms is relevant, for example, for the design of novel ergonomic man-machine interfaces in difficult, unstable tasks. |
| |
| Keywords: | Motor cognition Motor control Unstable tasks Control strategies Stiffness control Intermittent feedback control |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
