Bimanual control of an unstable task: Stiffness vs. intermittent control strategy

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

Volumn , Issue , 2010, Pages 779-784

  Saha, Devjani J ^a   Morasso, Pietro ^b,c  

^a Northwestern University   (United States)

^b ISTITUTO ITALIANO DI TECNOLOGIA   (Italy)

^c UNIVERSITY OF GENOA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

CENTRAL NERVOUS SYSTEMS; CONTROL POLICY; FORCE FIELDS; HUMAN SUBJECTS; INTERMITTENT CONTROLS; MECHANICAL STIFFNESS; NON-LINEAR; STABLE CONTROL; STABLE MANIFOLD; STIFFNESS INCREASE; TARGET POINT; UNSTABLE MANIFOLD;

STIFFNESS;

EID: 78649880262     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROMAN.2010.5598708     Document Type: Conference Paper

References (13)

1. D. Winter, A. Patla, F. Prince, and M. Ishac. "Ankle muscle stiffness in the control of balance during quiet standing," Journal of Neurophysiology, vol. 85, 2001, pp. 2630-2633.
2. M. Lakie, N. Caplan, and I.D. Loram, "Human balancing of an inverted pendulum with a compliant linkage: neural control by anticipatory intermittent bias," Journal of Physiology, vol. 551, 2003, pp. 357-370.
3. A. Bottaro, Y. Yasutake, T. Nomura, and M. Casadio, P. Morasso, "Bounded stability of the quiet standing posture: an intermittent control model," Human Movement Science, vol. 27, 2008, pp. 473- 495H.
4. J. Milton, J. Townsend, M.A. King, and T. Ohira, "Balancing with positive feedback: the case for discontinuous control," Philosophical Transactions of Royal Society, vol. A 367, 2009, pp. 1181-1193.
5. R. J. Peterka, "Sensorimotor integration in human postural control," Journal of Neurophysiology, vol. 88, 2002, pp. 1097-1118.
6. I. Loram, and M. Lakie, "Direct measurement of human ankle stiffness during quiet standing: The intrinsic mechanical stiffness is insufficient for stability," Journal of Physiology, vol. 545, 2002, pp. 1041-1053.
7. M. Casadio, P. Morasso, and V. Sanguineti. "Direct measurement of ankle stiffness during quiet standing: Implications for control modelling and clinical application," Gait & Posture, vol: 21, 2005, pp. 410-424.
8. I. D. Loram, C. N. Maganaris, M. Lakie, "Human postural sway results from frequent, ballistic bias impulses by soleus and gastrocnemius," Journal of Physiology, vol. 564.1, 2005 pp. 295-311.
9. E. Burdet, R. Osu, D.W. Franklin, T.E. Milner, M. Kawato, " The central nervous system stabilizes unstable dynamics by learning optimal impedance," Nature, vol. 414, 2001, pp. 446-449.
10. M. Casadio, P. Morasso, V. Sanguineti, and V. Arrichiello, "Braccio di Ferro: a new haptic workstation for neuromotor rehabilitation," Technology Health Care, vol. 14, 2006, pp.123-142.
11. R.C. Oldfield, "The assessment and analysis of handedness: the Edinburgh inventory," Neuropsychologia, vol. 9, 1971, pp. 97-113.
12. I. D. Loram, C. N. Maganaris, M. Lakie, "The passive, human calf muscles in relation to standimg: the short-range stiffness lies in the contractile component," Journal of Pshysiology, vol. 582.2, 2007, pp. 677-692.
13. E. Todorov, "Optimality principles in sensorimotor control," Nature Neuroscience, vol. 7, 2004, pp. 907-915.