Analytical And Experimental Investigation Of Human Balance Recovery In Response To Oscillations Of The Base Of Support In The Frontal Plane

Sadeghi Mehr, Mohsen; Naderi, Davoud; Farahpour, Nader; Davoud Abadi Farahani, Saeed

doi:10.22041/ijbme.2009.13380

Analytical And Experimental Investigation Of Human Balance Recovery In Response To Oscillations Of The Base Of Support In The Frontal Plane

Document Type : Full Research Paper

Authors

Mohsen Sadeghi Mehr ¹

Davoud Naderi ¹

Nader Farahpour ²

Saeed Davoud Abadi Farahani ³

¹ Assistant Professor, Mechanical Engineering Group, Engineering School, Bu-Ali Sina University

² Associate Professor, Group of Physical Education and Sport Science, Literature and Humanities School, Bu-Ali Sina University

³ M.Sc. Graduated, Mechanical Engineering Group, Engineering School, Bu-Ali Sina University

https://doi.org/10.22041/ijbme.2009.13380

Abstract

The present study was devoted to determine the standing human body reactions to perturbation of a base plate in the frontal plane, in order to preserve its stability. A base plate with sinusoidal fluctuation was designed and built and then markers were mounted on the specified locations on it and the skin of subjects before testing. During testing the subjects (N=10) tried to preserve their stability against perturbations. By using Motion Analysis System, the body responses of subjects were analyzed. Using inverse dynamic methods and experimental kinematic results, forces and moments applied to the joints and between feet soles and the base plate were determined. In theoretical study, the kinematic and dynamic equations of motion of a robotic model of human body in frontal plane by using repetitive Newton-Euler method were obtained. Based on the stability of the model and supporting vertical forces criterion an object function was defined, in order to assure the stability of the model. By optimization of the object function, angle of the model joints under perturbation and its first and second derivatives were determined. The good agreement of the theoretical and experimental results states that in similar conditions a robotic model can be used instead of expensive and time-consuming experiments.

Keywords

falling

Balance Recovery

Base Of Support Turbulence

Modeling

Optimization

stability

Subjects

[1] Campbell A.J., Reinken J., Allan B.C., Martinez G.S., Falls in old age: a study of frequency and related clinical factors, Age and Ageing, 1981; 10: 264-270.

[2] Popovic M. R., Pappas I. P. I., Nakazawa K., Keller T., Morari M., Dietz V., Stability criterion for controlling standing in able-bodied subjects, Journal of Biomechanics, 2000; 33: 1359-1368.

[3] Azevedo Ch., Poignet Ph., Espiau B., Artificial locomotion control: from human to robots, Robotics and Autonomous System, 2004; 47: 203-223.

[4] Vukobratovic M., Stepanenko J., Mathematical Models of General Anthropomorohic Systems, Mathematical Biosciences, 1973; 17:191-242.

[5] Tevatia G., Schaal S., Inverse Kinematics for Humanoid Robots, IEEE International Conference on Robotics and Automation, 2000; 1: 294-299.

[6] Lee Y. S., Choi Y. J., Han K. H., Chae J. W., Choi E. J., Kim I. W., A Study on the Human Impulse Characteristics of the Standing Shooting Posture, KSME, 2003; 2314-2319.

[7] Horak F. B., Nashner L. M., Central Programming of Postural Movements: Adaptation to Altered Support-Surface Configurations, Journal of Neurophysiology, 1986; 55: 1369-1381.

[8] Matjacic Z., A multi-purpose rehabilitation frame: an apparatus for experimental investigations of human balance and postural control, Journal of Medical Engineering &Technology, 2000; 6: 250– 254.

[9] Rietdyk S., Patla A.E., Winter D.A., Ishac M.G., Little C.E., Balance recovery from medio-lateral perturbations of the upper body during standing, Journal of Biomechanics, 1999; 32: 1149-1158.

[10] Maki B.E., Holliday P.J., Topper A.K., A prospective study of postural balance and risk of falling in an ambulatory and independent elderly population, Journal of Gerontology Medical Sciences, 1994; 49: 72-84.

[11] Henry S.M., Fung J., Horak F.B., Control of stance during lateral and anterior/posterior surface translations, IEEE Transactions on Rehabilitation Engineering, 1998; 6: 32-42.

[12] Kuo A.D., Zajac, F. E., Human standing posture: multi-joint Movement strategies based on biomechanical constraints, Brain Research, 1993; 97: 349-58.

[13] Morisawa M., Fujimoto Y., Murakami T., A Walking Pattern Generation for Biped Robot with Parallel Mechanism by Considering Contact Force, Annual Conference of the IEEE Industrial Electrinics society, 2001; 3: 2184-2189.

[14] Winter D. A., Biomechanics and Motor Control of Human Movement, J. Wiley, New York, 1990.

[15] کریگ جان؛ مکانیک و کنترل در رباتیک؛ ترجمه: علی مقداری، فائزه میرفخرایی، انتشارات علمی دانشگاه صنعتی شریف، 1377، 77-86.

[16] صادقی‌مهر محسن، نادری داوود، داودآبادی فراهانی سعید؛ مدلسازی، شبیه‌سازی و بهینه‌یابی استاتیکی و دینامیکی عکس‌العمل اناسن جهت برقراری تعادل در برابر اعمال نیروی خارجی در صفحه فرونتال؛ چهاردهمین کنفرانس مهندسی پزشکی ایران، تهران، اسفند 1386.

[17] Meghdari A., Naderi D., Alam M. A., Neuralnetwork- based Observer for Real-Time Tipover Estimation; Mechatronics, 2005; 15: 989-1004.

[18] Winter D., Prince A. F., Frank J. S., Powell C., Zabjek K. F., Unified Theory Regarding A/P and M/L Balance in Quiet Stance, Journal of Neurophysiology, 1996; 75: 2334-2343