Sensory adaptation in human balance control: lessons for biomimetic robotic bipeds.
This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of inconsistent sensors on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We review results exploring sensory re-weighting in humans and describe implementations of sensory re-weighting in simulation and on a robot.
Department of Electrical and Computer Engineering, University of Pittsburgh, PA, USA. arm19@pitt.edu
Arash
A
Mahboobin
Patrick J
PJ
Loughlin
Mark S
MS
Redfern
Stuart O
SO
Anderson
Christopher G
CG
Atkeson
Jessica K
JK
Hodgins
D000222:Adaptation, Physiological / Q000502:physiology*; D001185:Artificial Intelligence; D006801:Humans; D007866:Leg / Q000294:innervation / Q000502:physiology*; D018482:Muscle, Skeletal / Q000294:innervation / Q000502:physiology; D016571:Neural Networks, Computer; D009949:Orientation / Q000502:physiology; D004856:Postural Balance / Q000502:physiology*; D011434:Proprioception / Q000502:physiology; D011597:Psychomotor Performance / Q000502:physiology*; D012371:Robotics / Q000379:methods* / Q000639:trends; D012677:Sensation / Q000502:physiology*; D013028:Space Perception / Q000502:physiology; D014722:Vestibule, Labyrinth / Q000502:physiology; D014796:Visual Perception / Q000502:physiology