A PID Model of Balance Keeping Control and Its Application to Stability Assessment

  title={A PID Model of Balance Keeping Control and Its Application to Stability Assessment},
  author={Yifa Jiang and Hidenori Kimura},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
The aim of this study is to establish a PID model of balance keeping control during static upright standing to elucidate the possible mechanism of body sway, and to apply this to balance stability assessment especially concerning the roles of pelvis and its muscles. The dynamic model includes five joints, i.e. two ankles, two hips and one lumbosacral joint makes up a multi-link system, and is driven by two pairs of muscles, the psoas major (PM) and glutaeus medius (GM). Ankle and lumbosacral… CONTINUE READING
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