Human ankle joint reflex and impedance control during upright stance balance

被引：0
|
作者：
Pang M. [1 ]
Li M. [1 ]
Xiang K. [1 ]
Ge Y. [2 ]
机构：
[1] School of Automation, Wuhan University of Technology, Wuhan
[2] Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei
来源：
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2017年 / 45卷 / 10期
关键词：
Ankle joint; Impedance control; Muscle-reflex; Torque control; Upright stance balance;
D O I：
10.13245/j.hust.171009
中图分类号：
学科分类号：
摘要：
Aiming at the control mechanism, including muscle-reflex control and impedance control of ankle joint during upright stance balance, an electromyographic (EMG) signal based muscle-reflex control model was proposed to analyze the reflex behavior during the very beginning of push-recovery response.Furthermore, a proportion-differentiation (PD) based torque control model, with ankle joint angle and angular velocity as input, was used to fit the experimental data. During experiments, volunteers stood on a force platform and were pushed forward slightly. Volunteers were asked to try to recover from these disturbances without bending their knee and hip joints. Kinematics and kinetics data were recorded by inertial measurement unit (IMU), EMG and force platform. Experimental results indicate that the PD model can fit well with the control mechanism of ankle joint during the end of push-recovery response. © 2017, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.
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页码：49 / 53
页数：4
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