Acceleration feedback improves balancing against reflex delay

作者：Insperger Tamas; Milton John^*; Stepan Gabor

来源：Journal of the Royal Society Interface, 2013, 10(79): 20120763.

DOI：10.1098/rsif.2012.0763

• human balancing
• reflex delay
• acceleration feedback
• sensory threshold

A model for human postural balance is considered in which the time-delayed feedback depends on position, velocity and acceleration (proportional-derivative-acceleration (PDA) feedback). It is shown that a PDA controller is equivalent to a predictive controller, in which the prediction is based on the most recent information of the state, but the control input is not involved into the prediction. A PDA controller is superior to the corresponding proportional-derivative controller in the sense that the PDA controller can stabilize systems with approximately 40 per cent larger feedback delays. The addition of a sensory dead zone to account for the finite thresholds for detection by sensory receptors results in highly intermittent, complex oscillations that are a typical feature of human postural sway.

• 出版日期2013-2-6