Temporal parameter change of human postural control ability during upright swing using recursive least square method

摘要

The purpose of this study is to derive quantitative assessment indicators of the human postural control ability. An inverted pendulum is applied to standing human body and is controlled by ankle joint torque according to PD control method in sagittal plane. Torque control parameters (K_P: proportional gain, K_D: derivative gain) and pole placements of postural control system are estimated with time from inclination angle variation using fixed trace method as recursive least square method. Eight young healthy volunteers are participated in the experiment, in which volunteers are asked to incline forward as far as and as fast as possible 10 times over 10 [s] stationary intervals with their neck joint, hip joint and knee joint fixed, and then return to initial upright posture. The inclination angle is measured by an optical motion capture system. Three conditions are introduced to simulate unstable standing posture; 1) eyes-opened posture for healthy condition, 2) eyes-closed posture for visual impaired and 3) one-legged posture for lower-extremity muscle weakness. The estimated parameters K_P, K_D and pole placements are applied to multiple comparison test among all stability conditions. The test results indicate that K_P, K_D and real pole reflect effect of lower-extremity muscle weakness and K_D also represents effect of visual impairment. It is suggested that the proposed method is valid for quantitative assessment of standing postural control ability.