A cybernetical method for simulating the dynamic erect stance posture control under perturbation

In this paper, we propose a general cybernetical approach for simulating the erect stance posture control under perturbation (postural adjustment and postural reaction). For that, a reasonably complicated biomechanical model of a human body is proposed with a general motor control architecture. This cybernetical modelling method solves the body dynamic equilibrium and the trajectories tracking problems using a strategy based on the “Trunk center of mass acceleration control” and on a force distribution on each leg and each arm. The motor control scheme is composed of two levels: the “coordinator” level devoted to control legs and arms movements (trajectories tracking) and a global equilibrium of the body and “limbs” level which ensures the dynamic control of the limbs. Simulation results have been proposed to validate this cybernetical method.