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Authors: Karim Tahboub 1 ; Thomas Mergner 2 and Christoph Ament 3

Affiliations: 1 College of Engineering and Technology, Palestine Polytechnic University, Palestinian Territory, Occupied ; 2 Neurological Univ. Clinic, Neurocenter, University of Freiburg, Germany ; 3 Microsystems Engineerig, University of Freiburg, Germany

ISBN: 978-972-8865-60-3

Keyword(s): Human Postural Control, Modern Control, Neurological Control.

Related Ontology Subjects/Areas/Topics: Cybernetics ; Health Engineering and Technology Applications ; Informatics in Control, Automation and Robotics ; NeuroSensing and Diagnosis ; Neurotechnology, Electronics and Informatics ; Robotics and Automation

Abstract: This paper discusses the human postural control as a system engineering approach problem. Two main approaches are considered: neurological and engineering. From the neurological perspective, the problem is described, main sensory systems are identified, sensor fusion is suggested, and control system architecture and details are presented. Experimental results on both human subjects and on a special-purpose humanoid agree with the presented architecture. On the other hand, the humanoid parameters are identified, the humanoid dynamic model is derived, external-disturbance estimation methods are presented, a control method for stabilizing the body motion and then for robust tracking of voluntary motion in the presence of external disturbances is shown. This constitutes an engineering approach to this problem. Simulation results are given and it is shown that the presented method is capable of estimating the disturbances and for controlling the motion.

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Paper citation in several formats:
Tahboub K.; Mergner T.; Ament C. and (2006). NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL.In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 42-49. DOI: 10.5220/0001216000420049

@conference{icinco06,
author={Karim Tahboub and Thomas Mergner and Christoph Ament},
title={NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={42-49},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001216000420049},
isbn={978-972-8865-60-3},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - NEUROLOGICAL AND ENGINEERING APPROACHES TO HUMAN POSTURAL CONTROL
SN - 978-972-8865-60-3
AU - Tahboub, K.
AU - Mergner, T.
AU - Ament, C.
PY - 2006
SP - 42
EP - 49
DO - 10.5220/0001216000420049

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