A novel theoretical framework for the dynamic stability analysis, movement control, and trajectory generation in a multisegment biomechanical model

Journal of Biomechanical Engineering

Volumn 131, Issue 1, 2009, Pages

  Iqbal, Kamran ^a   Roy, Anindo ^b  

^a University of Arkansas at Little Rock ^*  (United States)

^b Massachusetts Institute of Technology   (United States)

Author keywords

Analytic trajectory generation; Dynamic stability analysis; Movement biomechanics; Musculoskeletal model; Neural PID controller

Indexed keywords

BIOMECHANICAL MODEL; CENTRAL NERVOUS SYSTEMS; DYNAMIC STABILITY ANALYSIS; FORCE FEEDBACK; GOLGI TENDON ORGANS; MODELING PARADIGMS; MOTOR CONTROL; MOVEMENT CONTROL; MULTI-SEGMENT; MUSCLE MODELS; MUSCLE SPINDLES; MUSCLE STIFFNESS; MUSCULOSKELETAL DYNAMICS; MUSCULOSKELETAL MODEL; NEURAL PATHWAY; NEURAL PID CONTROLLER; NEUROMUSCULOSKELETAL MODELS; OSCILLATORY MOVEMENTS; PARAMETER SET; PID CONTROLLERS; POSTURAL CONTROL; POSTURAL CONTROL SYSTEMS; PROPORTIONAL INTEGRAL DERIVATIVE CONTROLLERS; RATE FEEDBACK; SAGITTAL PLANE; SIMULATION RESULT; STABILITY MARGINS; THEORETICAL FRAMEWORK; TRAJECTORY GENERATION; TRAJECTORY TRACKING;

BIOMECHANICS; CONTROL; DISTURBANCE REJECTION; DYNAMIC ANALYSIS; ELECTRIC CONTROL EQUIPMENT; FLIGHT CONTROL SYSTEMS; FUZZY CONTROL; GAIT ANALYSIS; MUSCLE; PHYSIOLOGICAL MODELS; PROPORTIONAL CONTROL SYSTEMS; SENSITIVITY ANALYSIS; STIFFNESS; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS; TRAJECTORIES; TWO TERM CONTROL SYSTEMS;

CONTROLLERS;

ARTICLE; BIOMECHANICS; BODY MOVEMENT; BODY POSTURE; GOLGI TENDON; HUMAN; KINEMATICS; LATENT PERIOD; MOTOR CONTROL; MUSCLE FORCE; MUSCLE LENGTH; MUSCLE SPINDLE; MUSCLE STIFFNESS; MUSCULOSKELETAL SYSTEM; PROPRIOCEPTION; SENSITIVITY ANALYSIS; BIOLOGICAL MODEL; BODY EQUILIBRIUM; COMPUTER SIMULATION; FEEDBACK SYSTEM; INNERVATION; JOINT; LEG; MOVEMENT (PHYSIOLOGY); MUSCLE CONTRACTION; PHYSIOLOGY; REFLEX; SKELETAL MUSCLE; SPINAL CORD;

COMPUTER SIMULATION; FEEDBACK; HUMANS; JOINTS; LEG; MODELS, BIOLOGICAL; MOVEMENT; MUSCLE CONTRACTION; MUSCLE, SKELETAL; POSTURAL BALANCE; POSTURE; REFLEX; SPINAL CORD;

EID: 64549120302     PISSN: 01480731     EISSN: 15288951     Source Type: Journal    
DOI: 10.1115/1.3002763     Document Type: Article

References (41)

1. Sherrington, C. S., 1910, "Flexion-Reflex of the Limb, Crossed Extension Reflex, and Reflex Stepping and Standing," J. Physiol. (London), 40, pp. 28-121.
2. Hemami, H., 1980, "A Feedback On-Off Model of Biped Dynamics," IEEE Trans. Syst. Man Cybern., 10, pp. 376-383. (Pubitemid 11438572)
3. Hatze, H., 1981, "A Comprehensive Model for Human Motion Simulation and Its Application to the Take-Off Phase of the Long Jump," J. Biomech., 14, pp. 135-142. (Pubitemid 11090603)
4. Nashner, L. M., 1971, "A Model Describing Vestibular Detection of Body Sway Motion," Acta Oto-Laryngol., 72, pp. 429-436.
5. Nashner, L. M., 1972, "Vestibular Postural Control Model," Kybernetik, 10, pp. 106-109.
6. Hemami, H., and Golliday, C. L., 1977, "The Inverted Pendulum and Biped Stability," Math. Biosci., 34, pp. 95-110.
7. Hemami, H., and Katbab, A., 1982, "Constrained Inverted Pendulum Model of Evaluating Upright Postural Stability," ASME J. Dyn. Syst., Meas., Control, 104, pp. 343-349.
8. Barin, K., 1989, "Evaluation of a Generalized Model of Human Postural Dynamics and Control in the Sagittal Plane," Biol. Cybern., 61, pp. 37-50. (Pubitemid 19135097)
9. He, J., Levine, W. S., and Loeb, G. E., 1991, "Feedback Gains for Correcting Small Perturbations to Standing Posture," IEEE Trans. Autom. Control, 36, pp. 322-332.
10. Kuo, A. D., 1995, "An Optimal Control Model for Analyzing Human Postural Balance," IEEE Trans. Biomed. Eng., 42, pp. 87-101.
11. Zajac, F. E., 1989, "Muscle and Tendon: Properties, Models, Scaling, and Application to Biomechanics and Motor Control," CRC Crit. Rev. Bioeng., 17, pp. 369-411.
12. Yang, J. F., Winter, D. A., and Wells, R. P., 1990, "Postural Dynamics in the Standing Human," Biol. Cybern., 62, pp. 309-320.
13. Schaal, S., and Schweighofer, N., 2005, "Computational Motor Control in Humans and Robots," Curr. Opin. Neurobiol., 15, pp. 675-682. (Pubitemid 41682308)
14. Winters, J. M., and Stark, L., 1985, "Analysis of Fundamental Human Movement Patterns Through the Use of In-Depth Antagonistic Muscle Models," IEEE Trans. Biomed. Eng., BME-32, pp. 826-839.
15. Stroeve, S. H., 1998, "Impedance Characteristics of a Neuromusculoskeletal Model of the Human Arm: I. Posture Control," Ph.D. thesis, Delft University of Technology, Delft.
16. Brown, I. E., and Loeb, G. E., 2000, "A Reductionist Approach to Creating and Using Neuromusculoskeletal Models," Biomechanics and Neural Control of Movement and Posture, J. M. Winters and P. E. Crago, eds., Springer, New York, pp. 148-163.
17. Van der Helm, F., and Rozendaal, L., 2000, "Musculoskeletal Systems With Intrinsic and Proprioceptive Feedback," Biomechanics and Neural Control of Movement and Posture, J. M. Winters and P. E. Crago, eds., Springer, New York, pp. 164-174.
18. Roy, A., and Iqbal, K., 2003, "PID Controller Stabilization of a Single-Link Biomechanical Model With Multiple Delayed Feedbacks," Proceedings of the IEEE Conference on Systems, Man, and Cybernatics, Washington, DC, Vol. 1, pp. 642-647.
19. Iqbal, K., and Roy, A., 2004, "Stabilizing PID Controllers for a Single-Link Biomechanical Model With Position, Velocity, and Force Feedback," ASME J. Biomech. Eng., 126(6), pp. 838-843.
20. Pai, Y.-C., and Iqbal, K., 1999, "Simulated Movement Termination for Balance Recovery: Can Movement Strategies be Sought to Maintain Stability Even in the Presence of Slipping or Forced Sliding?" J. Biomech., 32, pp. 779-786. (Pubitemid 29287099)
21. Stapley, P. J., Ting, L. H., Hulliger, M., and Macpherson, J. M., 2002, "Automatic Postural Responses to Support Surface Translation are Delayed by Pyridoxine-Induced Proprioceptive Loss," J. Neurosci., 22, pp. 5803-5807.
22. Hemami, H., and Jaswa, V. C., 1978, "On a Three-Link Model of the Dynamics of Standing Up and Sitting Down," IEEE Trans. Syst. Man Cybern., 8, pp. 115-120.
23. Peterka, R. J., 2002, "Sensorimotor Integration in Human Postural Control," J. Neurophysiol., 88, pp. 1097-1118.
24. Iqbal, K., and Pai, Y. C., 2000, "Predicted Region of Stability for Balance Recovery: Motion at the Knee Joint Can Improve Termination of Forward Movement," J. Biomech., 33, pp. 1619-1627.
25. Hill, A. V., 1938, "The Heat of Shortening and the Dynamic Constants of the Muscle," Proc. R. Soc. London, Ser. B, 126, pp. 136-195.
26. Winters, J. M., 1990, "Hill-Based Muscle Models: A Systems Engineering Perspective," Multiple Muscle Systems: Biomechanics and Movement Organization, J. M. Winters and S. L.-Y. Woo, eds., Springer-Verlag, New York, pp. 69-93.
27. Crago, P. E., 2000, "Creating Neuromusculoskeletal Models," Biomechanics and Neural Control of Movement and Posture, J. M. Winters and P. E. Crago, eds., Springer, New York, pp. 164-174.
28. Stroeve, S., 1999, "Impedance Characteristics of a Neuromusculoskeletal Model of the Human Arm. I. Posture Control," Biol. Cybern., 81, pp. 475-495.
29. Hasan, Z., and Houk, J. C., 1975, "Transition in Sensitivity of Spindle Receptors That Occurs When Muscle is Stretched More Than a Fraction of a Millimeter," J. Neurophysiol., 38, pp. 673-689.
30. Loeb, G. E., and Mileusnic, M., 2001, "Development of a Muscle Spindle Model," Society of Neuroscience Abstract, Paper No. 301.5.
31. Rozendaal, L. A., 1997, "Stability of the Shoulder: Intrinsic Muscle Properties and Reflexive Control," Ph.D. thesis, Delft University of Technology, Delft.
32. Crago, P. E., Houk, J. C., and Rymer, W. Z., 1982, "Sampling of Total Muscle Force by Tendon Organs," J. Neurophysiol., 47, pp. 1069-1083.
33. Roy, A., and Iqbal, K., 2005, "Synthesis of Stabilizing PID Controllers Using Generalized Hermite-Biehler Theorem," Proceedings of the IFAC World Congress, Prague, Czech Republic, Vol. 1, pp. 1-6.
34. Goodwin, G. C., Stefan, F. G., and Mario, E. S., 2004, Control System Design, Prentice-Hall, New Jersey, p. 127.
35. Roy, A., 2005, "Theoretical Framework for Stability Analysis and Controller Synthesis in the Case of a Multi-Segment Biomechanical Model," Ph.D. thesis, University of Arkansas at Little Rock, Little Rock.
36. Kuo, A. D., and Zajac, F. E., 1993, "A Biomechanical Analysis of Muscle Strength as a Limiting Factor in Standing Posture," J. Biomech., 26, pp. 137-150.
37. Horak, F. B., and Macpherson, J. M., 1996, "Postural Orientation and Equilibrium," Handbook of Physiology, J. L. Smith, ed., Oxford University Press, New York, Sec. 12, pp. 255-292.
38. Horak, F., and Kuo, A., 2000, "Postural Adaptation for Altered Environments, Tasks, and Intentions," Biomechanics and Neural Control of Movement and Posture, J. M. Winters and P. E. Crago, eds., Springer, New York, pp. 267-281.
39. Sinkjaer, T. S., Toft, E., Andreassen, S., and Hornemann, B. C., 1988, "Muscle Stiffness in Human Ankle Dorsiflexors: Intrinsic and Reflex Components," J. Neurophysiol., 60, pp. 1110-1121.
40. Johansson, R., Magnusson, M., and Akesson, M., 1988, "Identification of Human Postural Dynamics," IEEE Trans. Biomed. Eng., 35, pp. 858-869.
41. Khalil, H., 2002, Nonlinear Systems, 3rd ed., Prentice-Hall, New Jersey, p.217.