Abstract:
:The ability to quantitatively measure stability is essential to ensuring the safety of locomoting systems. While the response to perturbation directly reflects the stability of a motion, this experimental method puts human subjects at risk. Unfortunately, existing indirect methods for estimating stability from unperturbed motion have been shown to have limited predictive power. This paper leverages recent advances in dynamical systems theory to accurately estimate the stability of human motion without requiring perturbation. This approach relies on kinematic observations of a nominal Sit-to-Stand motion to construct an individual-specific dynamic model, input bounds, and feedback control that are then used to compute the set of perturbations from which the model can recover. This set, referred to as the stability basin, was computed for 14 individuals, and was able to successfully differentiate between less and more stable Sit-to-Stand strategies for each individual with greater accuracy than existing methods.
journal_name
J Biomechjournal_title
Journal of biomechanicsauthors
Shia V,Moore TY,Holmes P,Bajcsy R,Vasudevan Rdoi
10.1016/j.jbiomech.2018.02.022subject
Has Abstractpub_date
2018-04-27 00:00:00pages
37-45eissn
0021-9290issn
1873-2380pii
S0021-9290(18)30122-2journal_volume
72pub_type
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