Experimental Estimation of a Second Order, Double Inverted Pendulum Parameters for the study of Human Balancing Conference Paper uri icon

abstract

  • Balance control deteriorates naturally with age and is reliant upon the control of the ankle and hip joints. To this end, the estimation of ankle and hip parameters in quiet standing can be a useful tool when analyzing compensatory actions aimed at maintaining postural stability. This work presents an experimental study of a theoretical approach built upon previous results where the physiological parameters a second-order time-varying Kelvin-Voigt model are estimated for the actuation of the ankle and hip. These estimates are obtained using a double inverted pendulum based model subject to a step-like perturbation. Making use of RGB camera data to obtain the estimates of the system%27s visco-elastic parameters, the approach employed is capable of estimating the time-varying values for the body%27s control parameters. This work presents the first results of the method demonstrating the viability of a low-cost technique for regular testing of subjects with a high fall risk. © 2019 IEEE.
  • Balance control deteriorates naturally with age and is reliant upon the control of the ankle and hip joints. To this end, the estimation of ankle and hip parameters in quiet standing can be a useful tool when analyzing compensatory actions aimed at maintaining postural stability. This work presents an experimental study of a theoretical approach built upon previous results where the physiological parameters a second-order time-varying Kelvin-Voigt model are estimated for the actuation of the ankle and hip. These estimates are obtained using a double inverted pendulum based model subject to a step-like perturbation. Making use of RGB camera data to obtain the estimates of the system's visco-elastic parameters, the approach employed is capable of estimating the time-varying values for the body's control parameters. This work presents the first results of the method demonstrating the viability of a low-cost technique for regular testing of subjects with a high fall risk. © 2019 IEEE.

publication date

  • 2019-01-01