ArticleJournal of the Royal Society, Interface2016
Control at stability's edge minimizes energetic costs: expert stick balancing.
Article in Journal of the Royal Society, Interface, 2016. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
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Who cites it
16 citing papers in PubMed.
- Dynamical stability and mechanical impedance are optimized when manipulating uncertain dynamically complex objects.PLoS computational biology · 2025Article
- Adjoint sensitivity method for parameter estimation: applications to inverted pendulum and human standing balance.Journal of the Royal Society, Interface · 2025Article
- Pole balancing on the fingertip: model-motivated machine learning forecasting of falls.Frontiers in physiology · 2024Article
- Virtual stick balancing: skill development in Newtonian and Aristotelian dynamics.Journal of the Royal Society, Interface · 2022Article
- Response to perturbation during quiet standing resembles delayed state feedback optimized for performance and robustness.Scientific reports · 2021Article
- Rolling balance board of adjustable geometry as a tool to assess balancing skill and to estimate reaction time delay.Journal of the Royal Society, Interface · 2021Article
- Establishing metrics and control laws for the learning process: ball and beam balancing.Biological cybernetics · 2020Article
- Virtual stick balancing: sensorimotor uncertainties related to angular displacement and velocity.Royal Society open science · 2019Article
- Acting together, destabilizing influences can stabilize human balance.Philosophical transactions. Series A, Mathematical, physical, and engineering sciences · 2019Article
- Direct estimation of the parameters of a delayed, intermittent activation feedback model of postural sway during quiet standing.PloS one · 2019Article
- Stabilization of a Cart Inverted Pendulum: Improving the Intermittent Feedback Strategy to Match the Limits of Human Performance.Frontiers in computational neuroscience · 2019Article
- Article
- Saturation limits the contribution of acceleration feedback to balancing against reaction delay.Journal of the Royal Society, Interface · 2018Article
- Intermittent muscle activity in the feedback loop of postural control system during natural quiet standing.Scientific reports · 2017Article
- The Mechanical Representation of Temporal Delays.Scientific reports · 2017Article
- A negative group delay model for feedback-delayed manual tracking performance.Journal of computational neuroscience · 2016Article
Corrections and comments
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Authors and funding
5 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Stick balancing on the fingertip is a complex voluntary motor task that requires the stabilization of an unstable system. For seated expert stick balancers, the time delay is 0.23 s, the shortest stick that can be balanced for 240 s is 0.32 m and there is a [Formula: see text]° dead zone for the estimation of the vertical displacement angle in the saggital plane. These observations motivate a switching-type, pendulum-cart model for balance control which uses an internal model to compensate for the time delay by predicting the sensory consequences of the stick's movements. Numerical simulations using the semi-discretization method suggest that the feedback gains are tuned near the edge of stability. For these choices of the feedback gains, the cost function which takes into account the position of the fingertip and the corrective forces is minimized. Thus, expert stick balancers optimize control with a combination of quick manoeuvrability and minimum energy expenditures.
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