Effectiveness Evaluation of Arm Usage for Human Quiet Standing Balance Recovery through Nonlinear Model Predictive Control

Keli Shen, Ahmed Chemori, Mitsuhiro Hayashibe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The computational study of human balance recovery strategy is crucial for revealing effective strategy in human balance rehabilitation and humanoid robot balance control. In this context, many efforts have been made to improve the ability of quiet standing human balance. There are three main strategies for human balance including (i) ankle, (ii) hip, and (iii) stepping strategies. Besides, arm usage was considered for balance control of human walking. However, there exist few works about effectiveness assessment of arm strategy for quiet standing balance recovery. In this paper, we proposed a nonlinear model predictive control (NMPC) for human balance control on a simplified model with sagittal arm rotation. Three case studies including (i) active arms, (ii) passive arms, and (iii) fixed arms were considered to discuss the effectiveness of arm usage for human balance recovery during quiet standing. Besides, the total root mean square (RMS) deviation of joint angles was computed as an index of human motion intensity quantification. The proposed solution has been implemented for a human-like balance recovery with arm usages during quiet standing under perturbation and shows the effectiveness of arm strategy.

Original languageEnglish
Title of host publication2020 3rd International Conference on Control and Robots, ICCR 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages150-153
Number of pages4
ISBN (Electronic)9781728175621
DOIs
Publication statusPublished - 2020 Dec 26
Event3rd International Conference on Control and Robots, ICCR 2020 - Tokyo, Japan
Duration: 2020 Dec 262020 Dec 29

Publication series

Name2020 3rd International Conference on Control and Robots, ICCR 2020

Conference

Conference3rd International Conference on Control and Robots, ICCR 2020
CountryJapan
CityTokyo
Period20/12/2620/12/29

Keywords

  • arm rotating
  • effectiveness evaluation
  • NMPC
  • RMS deviation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Optimization

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