The Affect of Multi-source Time Delay to the Human Balance Based on Robust Control Model
Time-delay is a prevalent phenomenon in human body during standing and locomotion, and it is one of the main factors to affect human balance ability. The purpose of this study is to design a human balance control model, and to analyze the human possible posture control mechanism with multi-source delay considered. Based on an inverted pendulum with the ankle joint model, we derived and proved that the human body existed multi-source time delay, and then designed a robust state feedback controller with an observer for the generalized system, which is with delay state and delay control inputs in continuous time. This controller can be considered as the central nervous system (CNS) for the human balance controller mathematical model. Finally, applying simulation software, we obtained the balance regulation kinematics responses to anterior and posterior (A/P) surface translations, and discussed the effect on the dynamic response of the human body to different kinds of the time-delay. The robust controller can stable the human system within larger interference and larger time-delay. This paper provides a useful method for analyzing the impact of the multi-source time delay on the human balance system.
Keywords: human balance, multi-source time delay, robust controller, surface translation.
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ABOUT THE AUTHORS
Hongrui Wang
Hongrui Wang received the M.S. degree from Department of Industry Automation, Northeast Heavy Machinery Institute, China, in 1981. He received the Ph.D. degree in 2002 from the College of Mechanical Engineering, Yanshan University(YSU), China. Since 1981, he has been with the Institute of Electrical Engineering of YSU, where he is currently a professor of YSU. His research interests include parallel mechanical design and control, rolling mill control, intelligent system design and analysis.
Kun Liu
Kun Liu received the B.S. degree and the M.S. degree in Hebei University(HBU), China, in 2008 and 2011 respectively. And he is working for the Ph.D. degree in the Institute of Electrical Engineering of Yanshan University (YSU), China, from 2011 to today. Now his research interests include rehabilitation robot, human balance control strategy, human movement system modeling.
Jinzhuang Xiao
Jinzhaung Xiao received the B.S. degree in the Department of Automatic Control, Hebei University(HBU), China, in 2000, the M.S. degree and Ph.D. in the Institute of Electrical Engineering of Yanshan University(YSU), China, in 2003 and in 2009 respectively. Now, he is an associate professor in the Department of Automation, HBU, China, and Post-doctorial Fellow in Universiti Malaysia Pahang, Malaysia.His research interests include rehabilitation robot, parallel robotic control, fault diagnosis, fault tolerant control.
Hongrui Wang
Hongrui Wang received the M.S. degree from Department of Industry Automation, Northeast Heavy Machinery Institute, China, in 1981. He received the Ph.D. degree in 2002 from the College of Mechanical Engineering, Yanshan University(YSU), China. Since 1981, he has been with the Institute of Electrical Engineering of YSU, where he is currently a professor of YSU. His research interests include parallel mechanical design and control, rolling mill control, intelligent system design and analysis.
Kun Liu
Kun Liu received the B.S. degree and the M.S. degree in Hebei University(HBU), China, in 2008 and 2011 respectively. And he is working for the Ph.D. degree in the Institute of Electrical Engineering of Yanshan University (YSU), China, from 2011 to today. Now his research interests include rehabilitation robot, human balance control strategy, human movement system modeling.
Jinzhuang Xiao
Jinzhaung Xiao received the B.S. degree in the Department of Automatic Control, Hebei University(HBU), China, in 2000, the M.S. degree and Ph.D. in the Institute of Electrical Engineering of Yanshan University(YSU), China, in 2003 and in 2009 respectively. Now, he is an associate professor in the Department of Automation, HBU, China, and Post-doctorial Fellow in Universiti Malaysia Pahang, Malaysia.His research interests include rehabilitation robot, parallel robotic control, fault diagnosis, fault tolerant control.
