Human-Derived Disturbance Estimation and Compensation (DEC) Method Lends Itself to a Modular Sensorimotor Control in a Humanoid Robot

  title={Human-Derived Disturbance Estimation and Compensation (DEC) Method Lends Itself to a Modular Sensorimotor Control in a Humanoid Robot},
  author={Vittorio Lippi and Thomas Mergner},
  journal={Frontiers in Neurorobotics},
The high complexity of the human posture and movement control system represents challenges for diagnosis, therapy, and rehabilitation of neurological patients. We envisage that engineering-inspired, model-based approaches will help to deal with the high complexity of the human posture control system. Since the methods of system identification and parameter estimation are limited to systems with only a few DoF, our laboratory proposes a heuristic approach that step-by-step increases complexity… 
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An optimal control model for analyzing human postural balance
  • A. Kuo
  • Engineering
    IEEE Transactions on Biomedical Engineering
  • 1995
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