ArticleJournal of the Royal Society, Interface2018
Saturation limits the contribution of acceleration feedback to balancing against reaction delay.
Article in Journal of the Royal Society, Interface, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Adjoint sensitivity method for parameter estimation: applications to inverted pendulum and human standing balance.Journal of the Royal Society, Interface · 2025Article
- 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
- Acting together, destabilizing influences can stabilize human balance.Philosophical transactions. Series A, Mathematical, physical, and engineering sciences · 2019Article
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Authors and funding
3 authors.
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Abstract
A nonlinear model for human balancing subjected to a saturated delayed proportional-derivative-acceleration (PDA) feedback is analysed. Compared to the proportional-derivative (PD) controller, it is confirmed that the PDA controller improves local stability even for large feedback delays. However, it is shown that the saturated PDA controller typically introduces subcritical Hopf bifurcation into the system, which can also lead to falling for large enough perturbations. The subcriticality becomes stronger as the acceleration feedback gain increases or the saturation torque limit decreases. These explain some features of human balancing failure related to the increased reaction delay of inactive elderly people.
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