Role of trunk inertia in non-stepping balance recovery

Abstract (2019)

Authors

C.A. Schumacher Technische Universität Darmstadt, Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Andrew Berry Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
André Seyfarth Technische Universität Darmstadt
H. Vallery Biomechatronics & Human-Machine Control - Mechanical, Maritime and Materials Engineering
Research Group
Biomechatronics & Human-Machine Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2019 C.A. Schumacher, Andrew Berry, André Seyfarth, H. Vallery
DOI
help_outline
https://doi.org/10.5075/epfl-BIOROB-AMAM2019-24
More Info
expand_more

Published Date

2019

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Biomechanical Engineering

Research Group

Biomechatronics & Human-Machine Control

Abstract

Previous research has identified two major non-stepping strategies used to recover balance following mechanical perturbations: ankle and hip strategy [1, 2]. These strategies are selected depending on eg the perturbation magnitude, prior experience, and configuration of the support surface [2] in order to control the posture (upright trunk and leg orientation) and angular momentum [3, 4]. Following an external mechanical perturbation, both body posture and angular momentum depend, in part, on passive properties of the body, such as the amount and distribution of mass. Simple mechanical models, like the inverted pendulum (IP)[4, 5] or the double IP [6] suggest an approximately linear inverse relationship between the inertia of a perturbed body segment and the resultant acceleration and, presumably, also the segment deflection.