Improving state feedback control model with deadband for reproducing human balancing motions

抄録

This study aims to enhance the reproduction of human balance movements in our previously proposed state feedback control model. One distinctive feature of human balance movements is the convex shape around the mean of the probability density function (PDF). While the previous model achieved high accuracy, it fell short in replicating these convex shapes. To address this limitation, we introduced a deadband function for control input in the new state feedback control model. Measuring balance movements in four human subjects, we identified the model parameters of the proposed model and achieved over 99% model qualities. The experimental results demonstrate that the proposed model surpassed the previous one, excelling in reproducing the convex shape observed in human’s PDFs.