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Methods for Identification of Feedback Control During Standing

The mechanism of human balance control could be studied by a direct approach (DA) in which a relationship between observed joint moments and potential feedback signals was identified. However, the human balance system operates in a closed loop and this would bias the estimated controller towards the inverse of the plant, i.e. inverse multibody dynamics. The aim of this work was to validate the direct approach method for identification of feedback control in human standing and to study the effect of platform perturbation amplitude on the accuracy of the DA identification technique. Furthermore, indirect approach (IA) was used for the same system to remove the systematic error in gain estimation. Test data were obtained from a simulation in which the plant was modeled as a double inverted pendulum, perturbed with horizontal accelerations at the base to mimic a test protocol for human standing balance.