An optimal state estimation model of sensory integration in human postural balance.

@article{Kuo2005AnOS,
  title={An optimal state estimation model of sensory integration in human postural balance.},
  author={Arthur D. Kuo},
  journal={Journal of neural engineering},
  year={2005},
  volume={2 3},
  pages={S235-49}
}
We propose a model for human postural balance, combining state feedback control with optimal state estimation. State estimation uses an internal model of body and sensor dynamics to process sensor information and determine body orientation. Three sensory modalities are modeled: joint proprioception, vestibular organs in the inner ear, and vision. These are mated with a two degree-of-freedom model of body dynamics in the sagittal plane. Linear quadratic optimal control is used to design state… CONTINUE READING

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