Perturbation-dependent selection of postural feedback gain and its scaling

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• 作者：Seyoung Kim^a ; Christopher G. Atkeson^b ; Sukyung Park^a ; ^{sukyungp@kaist.ac.kr}
• 关键词：Push recovery ; Postural control ; Feedback gain ; Gain scaling ; Joint torque
• 刊名：Journal of Biomechanics
• 出版年：2012
• 期刊代码：144_00219290
• 类别：med
• 出版时间：11 May, 2012
• 卷：45
• 期：8
• 页码：1379-1386
• 文件大小：1429 K

摘要

In this study we examined whether the selection of postural feedback gain and its scaling is dependent on perturbation type. We compare forward pushes applied to the back of a standing subject to previous work on responses to support translation. As was done in the previous work, we quantified the subject's response in terms of perturbation-dependent feedback gains. Seven healthy young subjects (25卤3 yr) experienced five different magnitudes of forward push applied by a 1.25 m-long pendulum falling from the height of 1.4 m toward the center of mass of the subject's torso. The loads on the pendulum ranged from 2 to 10 kg. Impulsive force, ground reaction forces and joint kinematics were measured, and joint torques were calculated from inverse dynamics. A full-state feedback control model was used to quantify the empirical data, and the feedback gains that minimized the fitting error between the data and model simulation were identified. As in previously published feedback gains for support translation trials, gradual gain scaling with push perturbation magnitude was consistently observed, but a different feedback gain set was obtained. The results imply that the nervous system may be aware of body dynamics being subjected to various perturbation types and may select perturbation-dependent postural feedback gains that satisfy postural stability and feasible joint torque constraints.