A Model of the Intermittent Control Strategy for Stabilizing Human Quiet Stance
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The intermittent time-delayed feedback control is a model of neural strategy for stabilizing human upright stance. It exploits two types of instability of the human postural control system. One is the instability of purely mechanical, passive dynamics of the inverted pendulum-like human body in the absence of the active feedback control, due to the fact that intrinsic, i.e., passive, ankle stiffness is insufficient for stabilizing the upright posture, whereby the upright posture is characterized by a saddle-type unstable equilibrium with stable and unstable manifolds. The second is a delay-induced unstable oscillation in the system of the inverted pendulum with an active feedback controller with a large signal transmission delay. In the intermittent control model, the instability is compensated by switching between those two unstable dynamics in an appropriate state-dependent...
- Michimoto K, Suzuki Y, Kiyono K, Kobayashi Y, Morasso P, Nomura T (2016) Reinforcement learning for stabilizing an inverted pendulum naturally leads to intermittent feedback control as in human quiet standing. Proceedings of the annual international conference of the IEEE engineering in medicine and biology society, EMBS Oct 37–40 2016Google Scholar