title: Dynamic Determinants of the Uncontrolled Manifold during Human Quiet Stance.
abstract: Human postural sway during stance arises from coordinated multi-joint movements. Thus, a sway trajectory represented by a time-varying postural vector in the multiple-joint-angle-space tends to be constrained to a low-dimensional subspace. It has been proposed that the subspace corresponds to a manifold defined by a kinematic constraint, such that the position of the center of mass (CoM) of the whole body is constant in time, referred to as the kinematic uncontrolled manifold (kinematic-UCM). A control strategy related to this hypothesis (CoM-control-strategy) claims that the central nervous system (CNS) aims to keep the posture close to the kinematic-UCM using a continuous feedback controller, leading to sway patterns that mostly occur within the kinematic-UCM, where no corrective control is exerted. An alternative strategy proposed by the authors (intermittent control-strategy) claims that the CNS stabilizes posture by intermittently suspending the active feedback controller, in such a way to allow the CNS to exploit a stable manifold of the saddle-type upright equilibrium in the state-space of the system, referred to as thedynamic-UCM, when the state point is on or near the manifold. Although the mathematical definitions of the kinematic- and dynamic-UCM are completely different, both UCMs play similar roles in the stabilization of multi-joint upright posture. The purpose of this study was to compare the dynamic performance of the two control strategies. In particular, we considered a double-inverted-pendulum-model of postural control, and analyzed the two UCMs defined above. We first showed that the geometric configurations of the two UCMs are almost identical. We then investigated whether the UCM-component of experimental sway could be considered as passive dynamics with no active control, and showed that such UCM-component mainly consists of high frequency oscillations above 1 Hz, corresponding to anti-phase coordination between the ankle and hip. We also showed that this result can be better characterized by an eigenfrequency associated with the dynamic-UCM. In summary, our analysis highlights the close relationship between the two control strategies, namely their ability to simultaneously establish small CoM variations and postural stability, but also make it clear that the intermittent control hypothesis better explains the spectral characteristics of sway.
authors.affiliation: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University Osaka, Japan.
authors.forename: Yasuyuki
authors.initials: Y
authors.lastname: Suzuki
authors.affiliation: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University Osaka, Japan.
authors.forename: Hiroki
authors.initials: H
authors.lastname: Morimoto
authors.affiliation: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University Osaka, Japan.
authors.forename: Ken
authors.initials: K
authors.lastname: Kiyono
authors.affiliation: Robotics, Brain and Cognitive Sciences Department, Fondazione Istituto Italiano di Tecnologia Genoa, Italy.
authors.forename: Pietro G
authors.initials: PG
authors.lastname: Morasso
authors.affiliation: Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University Osaka, Japan.
authors.forename: Taishin
authors.initials: T
authors.lastname: Nomura
keywords: double inverted pendulum; intermittent control; postural stability; postural sway; posture control; uncontrolled manifold