title: Modelling human balance using switched systems with linear feedback control.
abstract: We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations.
authors.affiliation: School of Computing, Mathematics and Digital Technology, John Dalton Building, Manchester Metropolitan University, Chester Street, Manchester M1 5GD, UK. p.kowalczyk@mmu.ac.uk
authors.forename: Piotr
authors.initials: P
authors.lastname: Kowalczyk
authors.forename: Paul
authors.initials: P
authors.lastname: Glendinning
authors.forename: Martin
authors.initials: M
authors.lastname: Brown
authors.forename: Gustavo
authors.initials: G
authors.lastname: Medrano-Cerda
authors.forename: Houman
authors.initials: H
authors.lastname: Dallali
authors.forename: Jonathan
authors.initials: J
authors.lastname: Shapiro
mesh_terms: D001696:Biomechanical Phenomena; D025461:Feedback, Physiological; D006801:Humans; D008954:Models, Biological; D009068:Movement; D010507:Periodicity; D004856:Postural Balance