Modeling sensorimotor control of human upright stance

Synergies Stabilizing Vertical Posture in Spaces of Control Variables

In this study, we address the question: Can the central nervous system stabilize vertical posture in the abundant space of neural commands? We assume that the control of vertical posture is associated with setting spatial referent coordinates (RC) for the involved muscle groups, which translates into two basic commands, reciprocal and co-activation. We explored whether the two commands co-varied across trials to stabilize the initial postural state. Young, healthy participants stood quietly against an external horizontal load and were exposed to smooth unloading episodes. Linear regression between horizontal force and center of mass coordinate during the unloading phase was computed to define the intercept (RC) and slope (apparent stiffness, k). Hyperbolic regression between the intercept and slope across unloading episodes and randomization analysis both demonstrated high indexes of co-variation stabilizing horizontal force in the initial state. Higher co-variation indexes were associated with lower average k values across the participants suggesting destabilizing effects of muscle coactivation. Analysis of deviations in the {RC; k} space keeping the posture unchanged (motor equivalent) between two states separated by a voluntary quick body sway showed significantly larger motor equivalent deviations compared to non-motor equivalent ones. This is the first study demonstrating posture-stabilizing synergies in the space of neural control variables using various computational methods. It promises direct applications to studies of postural disorders and rehabilitation.

Computational Evidence for Underweighting of Current Error and Overestimation of Future Error in Anxious Individuals

BACKGROUND

Real-time control of goal-directed actions requires continuous adjustments in response to both current error (i.e., distance from goal state) and predicted future error. Proportion-integral-derivative control models, which are extensively used in the automated control of industrial processes, formalize this intuition. Previous computational approaches to anxiety have separately addressed behavioral inhibition and exaggerated error processing, but a proportion-integral-derivative control approach that decomposes error processing into current and anticipated error could integrate these accounts and extend them to a real-time sensorimotor control domain.

METHODS

We applied a simplified proportion-derivative control model to a virtual driving task in a transdiagnostic psychiatric sample of 317 individuals and computed a drive parameter (weighting of current error) and a damping parameter (weighting of the rate of change of error, enabling adjustment based on future error).

RESULTS

Self-reported fear, but not negative affect, was selectively associated with lower drive and lower damping. Those individuals that were characterized by lower drive and damping also exhibited lower caudal anterior cingulate cortex, but not insula, volume in a structural magnetic resonance imaging analysis.

CONCLUSIONS

The proportion-derivative control approach reveals that fear is specifically associated with reduced weighting of current error and overestimation of future error, resulting in both approach inhibition and overcorrecting overshoots around a goal state.

Effect of Rotating Auditory Scene on Postural Control in Normal Subjects, Patients With Bilateral Vestibulopathy, Unilateral, or Bilateral Cochlear Implants

Objective: The aim of this study was to investigate the impact of a rotating sound stimulation on the postural performances in normal subjects, patients with bilateral vestibulopathy (BVP), unilateral (UCI), and bilateral (BCI) cochlear implantees.

Materials and Methods: Sixty-nine adults were included (32 women and 37 men) in a multicenter prospective study. The group included 37 healthy subjects, 10 BVP, 15 UCI, and 7 BCI patients. The average of age was 47 ± 2.0 (range: 23–82). In addition to a complete audiovestibular work up, a dynamic posturography (Multitest Framiral, Grasse) was conducted in silence and with a rotating cocktail party sound delivered by headphone. The center of pressure excursion surface (COPS), sensory preferences, as well as fractal, diffusion, and wavelet analysis of stabilometry were collected.

Results: The rotating sound seemed to influenced balance in all subgroups except in controls. COPS increased with sound in the BVP and BCI groups in closed eyes and sway-referenced condition indicating a destabilizing effect while it decreased in UCI in the same condition suggesting stabilization (p < 0.05, linear mixed model corrected for age, n = 69). BVP had higher proprioceptive preferences, BCI had higher vestibular and visual preferences, and UCI had only higher vestibular preferences than controls. Sensory preferences were not altered by rotating sound.

Conclusions: The rotating sound destabilized BVP and BCI patients with binaural hearing while it stabilized UCI patients with monaural hearing and no sound rotation effect. This difference suggests that binaural auditory cues are exploited in BCI patients for their balance.

Stability of vertical posture explored with unexpected mechanical perturbations: synergy indices and motor equivalence

We explored the relations between indices of mechanical stability of vertical posture and synergy indices under unexpected perturbations. The main hypotheses predicted higher posture-stabilizing synergy indices and higher mechanical indices of center of pressure stability during perturbations perceived by subjects as less challenging. Healthy subjects stood on a force platform and held in fully extended arms a bar attached to two loads acting downward and upward. One of the loads was unexpectedly released by the experimenter causing a postural perturbations. In different series, subjects either knew or did not know which of the two loads would be released. Forward perturbations were perceived as more challenging and accompanied by co-activation patterns among the main agonist-antagonist pairs. Backward perturbation led to reciprocal muscle activation patterns and was accompanied by indices of mechanical stability and of posture-stabilizing synergy which indicated higher stability. Changes in synergy indices were observed as early as 50-100 ms following the perturbation reflecting involuntary mechanisms. In contrast, predictability of perturbation direction had weak or no effect on mechanical and synergy indices of stability. These observations are interpreted within a hierarchical scheme of synergic control of motor tasks and a hypothesis on the control of movements with shifts of referent coordinates. The findings show direct correspondence between stability indices based on mechanics and on the analysis of multi-muscle synergies. They suggest that involuntary posture-stabilizing mechanisms show synergic organization. They also show that predictability of perturbation direction has strong effects on anticipatory postural adjustment but not corrective adjustments. We offer an interpretation of co-activation patterns that questions their contribution to postural stability.

Human Postural Control

From ancient Greece to nowadays, research on posture control was guided and shaped by many concepts. Equilibrium control is often considered part of postural control. However, two different levels have become increasingly apparent in the postural control system, one level sets a distribution of tonic muscle activity (“posture”) and the other is assigned to compensate for internal or external perturbations (“equilibrium”). While the two levels are inherently interrelated, both neurophysiological and functional considerations point toward distinct neuromuscular underpinnings. Disturbances of muscle tone may in turn affect movement performance. The unique structure, specialization and properties of skeletal muscles should also be taken into account for understanding important peripheral contributors to postural regulation. Here, we will consider the neuromechanical basis of habitual posture and various concepts that were rather influential in many experimental studies and mathematical models of human posture control.

Haptic Cues for Balance: Use of a Cane Provides Immediate Body Stabilization

Haptic cues are important for balance. Knowledge of the temporal features of their effect may be crucial for the design of neural prostheses. Touching a stable surface with a fingertip reduces body sway in standing subjects eyes closed (EC), and removal of haptic cue reinstates a large sway pattern. Changes in sway occur rapidly on changing haptic conditions. Here, we describe the effects and time-course of stabilization produced by a haptic cue derived from a walking cane. We intended to confirm that cane use reduces body sway, to evaluate the effect of vision on stabilization by a cane, and to estimate the delay of the changes in body sway after addition and withdrawal of haptic input. Seventeen healthy young subjects stood in tandem position on a force platform, with eyes closed or open (EO). They gently lowered the cane onto and lifted it from a second force platform. Sixty trials per direction of haptic shift (Touch → NoTouch, T-NT; NoTouch → Touch, NT-T) and visual condition (EC-EO) were acquired. Traces of Center of foot Pressure (CoP) and the force exerted by cane were filtered, rectified, and averaged. The position in space of a reflective marker positioned on the cane tip was also acquired by an optoelectronic device. Cross-correlation (CC) analysis was performed between traces of cane tip and CoP displacement. Latencies of changes in CoP oscillation in the frontal plane EC following the T-NT and NT-T haptic shift were statistically estimated. The CoP oscillations were larger in EC than EO under both T and NT (p < 0.001) and larger during NT than T conditions (p < 0.001). Haptic-induced effect under EC (Romberg quotient NT/T ~ 1.2) was less effective than that of vision under NT condition (EC/EO ~ 1.5) (p < 0.001). With EO cane had little effect. Cane displacement lagged CoP displacement under both EC and EO. Latencies to changes in CoP oscillations were longer after addition (NT-T, about 1.6 s) than withdrawal (T-NT, about 0.9 s) of haptic input (p < 0.001). These latencies were similar to those occurring on fingertip touch, as previously shown. Overall, data speak in favor of substantial equivalence of the haptic information derived from both “direct” fingertip contact and “indirect” contact with the floor mediated by the cane. Cane, finger and visual inputs would be similarly integrated in the same neural centers for balance control. Haptic input from a walking aid and its processing time should be considered when designing prostheses for locomotion.

A Sensitivity Analysis of an Inverted Pendulum Balance Control Model

Balance control models are used to describe balance behavior in health and disease. We identified the unique contribution and relative importance of each parameter of a commonly used balance control model, the Independent Channel (IC) model, to identify which parameters are crucial to describe balance behavior. The balance behavior was expressed by transfer functions (TFs), representing the relationship between sensory perturbations and body sway as a function of frequency, in terms of amplitude (i.e., magnitude) and timing (i.e., phase). The model included an inverted pendulum controlled by a neuromuscular system, described by several parameters. Local sensitivity of each parameter was determined for both the magnitude and phase using partial derivatives. Both the intrinsic stiffness and proportional gain shape the magnitude at low frequencies (0.1–1 Hz). The derivative gain shapes the peak and slope of the magnitude between 0.5 and 0.9 Hz. The sensory weight influences the overall magnitude, and does not have any effect on the phase. The effect of the time delay becomes apparent in the phase above 0.6 Hz. The force feedback parameters and intrinsic stiffness have a small effect compared with the other parameters. All parameters shape the TF magnitude and phase and therefore play a role in the balance behavior. The sensory weight, time delay, derivative gain, and the proportional gain have a unique effect on the TFs, while the force feedback parameters and intrinsic stiffness contribute less. More insight in the unique contribution and relative importance of all parameters shows which parameters are crucial and critical to identify underlying differences in balance behavior between different patient groups.

Dynamic Balanced Reach: A Temporal and Spectral Analysis Across Increasing Performance Demands

Standing balanced reach is a fundamental task involved in many activities of daily living that has not been well analyzed quantitatively to assess and characterize the multisegmental nature of the body's movements. We developed a dynamic balanced reach test (BRT) to analyze performance in this activity; in which a standing subject is required to maintain balance while reaching and pointing to a target disk moving across a large projection screen according to a sum-of-sines function. This tracking and balance task is made progressively more difficult by increasing the disk's overall excursion amplitude. Using kinematic and ground reaction force data from 32 young healthy subjects, we investigated how the motions of the tracking finger and whole-body center of mass (CoM) varied in response to the motion of the disk across five overall disk excursion amplitudes. Group representative performance statistics for the cohort revealed a monotonically increasing root mean squared (RMS) tracking error (RMSE) and RMS deviation (RMSD) between whole-body CoM (projected onto the ground plane) and the center of the base of support (BoS) with increasing amplitude (p < 0.03). Tracking and CoM response delays remained constant, however, at 0.5 s and 1.0 s, respectively. We also performed detailed spectral analyses of group-representative response data for each of the five overall excursion amplitudes. We derived empirical and analytical transfer functions between the motion of the disk and that of the tracking finger and CoM, computed tracking and CoM responses to a step input, and RMSE and RMSD as functions of disk frequency. We found that for frequencies less than 1.0 Hz, RMSE generally decreased, while RMSE normalized to disk motion amplitude generally increased. RMSD, on the other hand, decreased monotonically. These findings quantitatively characterize the amplitude- and frequency-dependent nature of young healthy tracking and balance in this task. The BRT is not subject to floor or ceiling effects, overcoming an important deficiency associated with most research and clinical instruments used to assess balance. This makes a comprehensive quantification of young healthy balance performance possible. The results of such analyses could be used in work space design and in fall-prevention instructional materials, for both the home and work place. Young healthy performance represents "exemplar" performance and can also be used as a reference against which to compare the performance of aging and other clinical populations at risk for falling.

Velocity dependence of vestibular information for postural control on tilting surfaces

Vestibular information is known to be important for postural stability on tilting surfaces, but the relative importance of vestibular information across a wide range of surface tilt velocities is less clear. We compared how tilt velocity influences postural orientation and stability in nine subjects with bilateral vestibular loss and nine age-matched, control subjects. Subjects stood on a force platform that tilted 6 deg, toes-up at eight velocities (0.25 to 32 deg/s), with and without vision. Results showed that visual information effectively compensated for lack of vestibular information at all tilt velocities. However, with eyes closed, subjects with vestibular loss were most unstable within a critical tilt velocity range of 2 to 8 deg/s. Subjects with vestibular deficiency lost their balance in more than 90% of trials during the 4 deg/s condition, but never fell during slower tilts (0.25-1 deg/s) and fell only very rarely during faster tilts (16-32 deg/s). At the critical velocity range in which falls occurred, the body center of mass stayed aligned with respect to the surface, onset of ankle dorsiflexion was delayed, and there was delayed or absent gastrocnemius inhibition, suggesting that subjects were attempting to actively align their upper bodies with respect to the moving surface instead of to gravity. Vestibular information may be critical for stability at velocities of 2 to 8 deg/s because postural sway above 2 deg/s may be too fast to elicit stabilizing responses through the graviceptive somatosensory system, and postural sway below 8 deg/s may be too slow for somatosensory-triggered responses or passive stabilization from trunk inertia.

An Engineering Model of Human Balance Control-Part I: Biomechanical Model

We developed a balance measurement tool (the balanced reach test (BRT)) to assess standing balance while reaching and pointing to a target moving in three-dimensional space according to a sum-of-sines function. We also developed a three-dimensional, 13-segment biomechanical model to analyze performance in this task. Using kinematic and ground reaction force (GRF) data from the BRT, we performed an inverse dynamics analysis to compute the forces and torques applied at each of the joints during the course of a 90 s test. We also performed spectral analyses of each joint's force activations. We found that the joints act in a different but highly coordinated manner to accomplish the tracking task-with individual joints responding congruently to different portions of the target disk's frequency spectrum. The test and the model also identified clear differences between a young healthy subject (YHS), an older high fall risk (HFR) subject before participating in a balance training intervention; and in the older subject's performance after training (which improved to the point that his performance approached that of the young subject). This is the first phase of an effort to model the balance control system with sufficient physiological detail and complexity to accurately simulate the multisegmental control of balance during functional reach across the spectra of aging, medical, and neurological conditions that affect performance. Such a model would provide insight into the function and interaction of the biomechanical and neurophysiological elements making up this system; and system adaptations to changes in these elements' performance and capabilities.

Processing time of addition or withdrawal of single or combined balance-stabilizing haptic and visual information

We investigated the integration time of haptic and visual input and their interaction during stance stabilization. Eleven subjects performed four tandem-stance conditions (60 trials each). Vision, touch, and both vision and touch were added and withdrawn. Furthermore, vision was replaced with touch and vice versa. Body sway, tibialis anterior, and peroneus longus activity were measured. Following addition or withdrawal of vision or touch, an integration time period elapsed before the earliest changes in sway were observed. Thereafter, sway varied exponentially to a new steady-state while reweighting occurred. Latencies of sway changes on sensory addition ranged from 0.6 to 1.5 s across subjects, consistently longer for touch than vision, and were regularly preceded by changes in muscle activity. Addition of vision and touch simultaneously shortened the latencies with respect to vision or touch separately, suggesting cooperation between sensory modalities. Latencies following withdrawal of vision or touch or both simultaneously were shorter than following addition. When vision was replaced with touch or vice versa, adding one modality did not interfere with the effect of withdrawal of the other, suggesting that integration of withdrawal and addition were performed in parallel. The time course of the reweighting process to reach the new steady-state was also shorter on withdrawal than addition. The effects of different sensory inputs on posture stabilization illustrate the operation of a time-consuming, possibly supraspinal process that integrates and fuses modalities for accurate balance control. This study also shows the facilitatory interaction of visual and haptic inputs in integration and reweighting of stance-stabilizing inputs.

Visual contribution to human standing balance during support surface tilts

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Contributions of visual position and velocity cues to standing balance are analyzed.

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Both visual cues reduce sway responses to support surface tilt and sway variability.

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Model simulations are used for data interpretation and data reproduction.

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Visual cues improve disturbance estimates by reduction of estimation thresholds.

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Reduction of noise by visual cues appears to be an instrumental factor.

Visual position and velocity cues improve human standing balance, reducing sway responses to external disturbances and sway variability. Previous work suggested that human balancing is based on sensory estimates of external disturbances and their compensation using feedback mechanisms (Disturbance Estimation and Compensation, DEC model). This study investigates the visual effects on sway responses to pseudo-random support surface tilts, assuming that improvements result from lowering the velocity threshold in a tilt estimate and the position threshold in an estimate of the gravity disturbance. Center of mass (COM) sway was measured with four different tilt amplitudes, separating the effect of visual cues across the conditions ‘Eyes closed’ (no visual cues), ‘4 Hz stroboscopic illumination’ (visual position cues), and ‘continuous illumination’ (visual position and velocity cues). In a model based approach, parameters of disturbance estimators were identified. The model reproduced experimental results and showed a specific reduction of the position and velocity threshold when adding visual position and velocity cues, respectively. Sway variability was analyzed to explore a hypothesized relation between estimator thresholds and internal noise. Results suggest that adding the visual cues reduces the contribution of vestibular noise, thereby reducing sway variability and allowing for lower thresholds, which improves the disturbance compensation.

Time-interval for integration of stabilizing haptic and visual information in subjects balancing under static and dynamic conditions

Maintaining equilibrium is basically a sensorimotor integration task. The central nervous system (CNS) continually and selectively weights and rapidly integrates sensory inputs from multiple sources, and coordinates multiple outputs. The weighting process is based on the availability and accuracy of afferent signals at a given instant, on the time-period required to process each input, and possibly on the plasticity of the relevant pathways. The likelihood that sensory inflow changes while balancing under static or dynamic conditions is high, because subjects can pass from a dark to a well-lit environment or from a tactile-guided stabilization to loss of haptic inflow. This review article presents recent data on the temporal events accompanying sensory transition, on which basic information is fragmentary. The processing time from sensory shift to reaching a new steady state includes the time to (a) subtract or integrate sensory inputs; (b) move from allocentric to egocentric reference or vice versa; and (c) adjust the calibration of motor activity in time and amplitude to the new sensory set. We present examples of processes of integration of posture-stabilizing information, and of the respective sensorimotor time-intervals while allowing or occluding vision or adding or subtracting tactile information. These intervals are short, in the order of 1–2 s for different postural conditions, modalities and deliberate or passive shift. They are just longer for haptic than visual shift, just shorter on withdrawal than on addition of stabilizing input, and on deliberate than unexpected mode. The delays are the shortest (for haptic shift) in blind subjects. Since automatic balance stabilization may be vulnerable to sensory-integration delays and to interference from concurrent cognitive tasks in patients with sensorimotor problems, insight into the processing time for balance control represents a critical step in the design of new balance- and locomotion training devices.

Human balance responses to perturbations in the horizontal plane

Human balance strategies during standing have been studied extensively. Most of these studies rely on perturbations to the feet, for example by moving platforms or treadmills, and focus on the sagittal plane. Less research has been done on reactions to perturbations to the upper body, and the direction dependence of stabilizing strategies is still an open question. Here, we describe an experiment where we apply horizontal static pulling forces to the upper body of standing human subjects in different directions by means of an overhead robotic device, the FLOAT. Based on a simplified mechanical model, we propose the normalized displacement of the center of pressure, the ΔCoPn, as a measure of the selected balance strategy. We find that existing neuromechanical models do not fully explain responses to these static horizontal forces, because they predict too much CoP movement. Further, we found a tendency to particularly reduce CoP movement in anterior-posterior direction, indicating that reconfiguration of the body may play a larger role in this direction.

Rapid processing of haptic cues for postural control in blind subjects

OBJECTIVES

Vision and touch rapidly lead to postural stabilization in sighted subjects. Is touch-induced stabilization more rapid in blind than in sighted subjects, owing to cross-modal reorganization of function in the blind?

METHODS

We estimated the time-period elapsing from onset of availability of haptic support to onset of lateral stabilization in a group of early- and late-onset blinds. Eleven blind (age 39.4 years±11.7SD) and eleven sighted subjects (age 30.0 years±10.0SD), standing eyes closed with feet in tandem position, touched a pad with their index finger and withdrew the finger from the pad in sequence. EMG of postural muscles and displacement of centre of foot pressure were recorded. The task was repeated fifty times, to allow statistical evaluation of the latency of EMG and sway changes following the haptic shift.

RESULTS

Steady-state sway (with or without contact with pad, no haptic shift) did not differ between blind and sighted. On adding the haptic stimulus, EMG and sway diminished in both groups, but at an earlier latency (by about 0.5 s) in the blinds (p <0.01). Latencies were still shorter in the early-than late-blinds. When the haptic stimulus was withdrawn, both groups increased EMG and sway at equally short delays.

CONCLUSIONS

Blinds are rapid in implementing adaptive postural modifications when granted an external haptic reference. Fast processing of the stabilizing haptic spatial-orientation cues may be favoured by cortical plasticity in blinds.

SIGNIFICANCE

These findings add new information to the field of sensory-guided dynamic control of equilibrium in man.

Connectional parameters determine multisensory processing in a spiking network model of multisensory convergence

For the brain to synthesize information from different sensory modalities, connections from different sensory systems must converge onto individual neurons. However, despite being the definitive, first step in the multisensory process, little is known about multisensory convergence at the neuronal level. This lack of knowledge may be due to the difficulty for biological experiments to manipulate and test the connectional parameters that define convergence. Therefore, the present study used a computational network of spiking neurons to measure the influence of convergence from two separate projection areas on the responses of neurons in a convergent area. Systematic changes in the proportion of extrinsic projections, the proportion of intrinsic connections, or the amount of local inhibitory contacts affected the multisensory properties of neurons in the convergent area by influencing (1) the proportion of multisensory neurons generated, (2) the proportion of neurons that generate integrated multisensory responses, and (3) the magnitude of multisensory integration. These simulations provide insight into the connectional parameters of convergence that contribute to the generation of populations of multisensory neurons in different neural regions as well as indicate that the simple effect of multisensory convergence is sufficient to generate multisensory properties like those of biological multisensory neurons.

Influence of visual and haptic cues on podokinetic after-rotation

Active countercircling on a rotating platform for 15 min causes individuals to involuntarily circle in the same direction when they step in place on firm ground. This is referred to as podokinetic after-rotation (PKAR). It is unclear how interjecting brief periods of visual or haptic inputs for a stable orientation reference affects PKAR. The authors studied this issue in 16 healthy individuals who participated in three sessions each. Following active countercircling, participants attempted to step in place for 30 min on firm ground. In two of three sessions, participants received full visual input or made fingertip contact with a stationary object for 30 s during 30 min of ongoing PKAR. All participants slowed or stopped rotating during the presence of visual or haptic inputs and resumed PKAR after removal of these inputs. Exponential functions fitted to angular trunk velocity versus time plots revealed no significant differences across conditions (p > .05). The preservation of PKAR after brief exposure to a visual or haptic reference is consistent with a slowly decaying velocity storage that is not reset or dumped after exposure to conflicting visual or haptic cues.

Posture control in vestibular-loss patients

Patients with chronic bilateral loss of vestibular functions normally replace these by visual or haptic referencing to stationary surroundings, resulting in an almost normal stance control. But with eyes closed, they show abnormally large body sway, and may tend to fall when there are external disturbances to the body or when standing on an unstable support surface. Patients' postural responses depend on joint angle proprioception and ground reaction-force cues (occasionally referred to as "somatosensory graviception"). It is asked why the force cues do not allow patients to fully substitute loss of the vestibular cues. In recent years, four sets of observations of experimental situations where patients, eyes closed, show impaired stance control or even may fall were identified: (1) with unstable or compliant support ("inevitable falls"); (2) with large external disturbances such as support surface tilts or pull stimuli impacting on their bodies (leading to abnormally large body movements); (3) with fast body-support tilts (also abnormally large body movements); and (4) with transient support tilt (overshooting body-support stabilization and abnormaly late body-space [BS] stabilization). When patients' data were modeled, it was found that their problems stem mainly from the force cues. It was hypothesized that patients have difficulties decomposing this sensory information into its constituents in order to be able to get rid of an active force component. Normals do not have this difficulty, because the vestibular system performs the decomposition.

Biologically-inspired humanoid postural control

This article presents a biologically-inspired framework for humanoid postural control. It complies with the main features of human postural control that are extracted from recent studies. In this article, the human body is abstracted as a single-inverted pendulum jointed with a foot that rests freely on a supporting surface. In particular, disturbances affecting posture are addressed and accommodated within the proposed framework. Among these are external forces and motion of support surface on which the body stands. The main components of this framework are: 1. A state-feedback mechanism for stabilizing the unstable dynamics of the body. 2. A tracking loop for robustly achieving desired voluntary orientations. 3. A feed-forward control primarily for improving the response to voluntary motions. 4. A stand-alone vestibular sensory fusion algorithm for estimating body orientation. 5. An external-disturbance estimator and a corresponding compensation for minimizing the effect of external disturbances. These components are interconnected in a way that qualifies this framework to modularly address the multi-segment body postural control problem. Although no postural stability measure is explicitly incorporated, experiments run on a special-purpose humanoid demonstrate the stability and the performance merits of the presented framework.

Comparison of human and humanoid robot control of upright stance

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Vestibular humanoid postural control

Many of our motor activities require stabilization against external disturbances. This especially applies to biped stance since it is inherently unstable. Disturbance compensation is mainly reactive, depending on sensory inputs and real-time sensor fusion. In humans, the vestibular system plays a major role. When there is no visual space reference, vestibular-loss clearly impairs stance stability. Most humanoid robots do not use a vestibular system, but stabilize upright body posture by means of center of pressure (COP) control. We here suggest using in addition a vestibular sensor and present a biologically inspired vestibular sensor along with a human-inspired stance control mechanism. We proceed in two steps. First, in an introductory review part, we report on relevant human sensors and their role in stance control, focusing on own models of transmitter fusion in the vestibular sensor and sensor fusion in stance control. In a second, experimental part, the models are used to construct an artificial vestibular system and to embed it into the stance control of a humanoid. The robot's performance is investigated using tilts of the support surface. The results are compared to those of humans. Functional significance of the vestibular sensor is highlighted by comparing vestibular-able with vestibular-loss states in robot and humans. We show that a kinematic body-space sensory feedback (vestibular) is advantageous over a kinetic one (force cues) for dynamic body-space balancing. Our embodiment of human sensorimotor control principles into a robot is more than just bionics. It inspired our biological work (neurorobotics: 'learning by building', proof of principle, and more). We envisage a future clinical use in the form of hardware-in-the-loop simulations of neurological symptoms for improving diagnosis and therapy and designing medical assistive devices.

Potential roles of force cues in human stance control

Human stance is inherently unstable. A small deviation from upright body orientation is enough to yield a gravitational component in the ankle joint torque, which tends to accelerate the body further away from upright ('gravitational torque'; magnitude is related to body-space lean angle). Therefore, to maintain a given body lean position, a corresponding compensatory torque must be generated. It is well known that subjects use kinematic sensory information on body-space lean from the vestibular system for this purpose. Less is known about kinetic cues from force/torque receptors. Previous work indicated that they are involved in compensating external contact forces such as a pull or push having impact on the body. In this study, we hypothesized that they play, in addition, a role when the vestibular estimate of the gravitational torque becomes erroneous. Reasons may be sudden changes in body mass, for instance by a load, or an impairment of the vestibular system. To test this hypothesis, we mimicked load effects on the gravitational torque in normal subjects and in patients with chronic bilateral vestibular loss (VL) with eyes closed. We added/subtracted extra torque to the gravitational torque by applying an external contact force (via cable winches and a body harness). The extra torque was referenced to body-space lean, using different proportionality factors. We investigated how it affected body-space lean responses that we evoked using sinusoidal tilts of the support surface (motion platform) with different amplitudes and frequencies (normals +/-1 degrees, +/-2 degrees, and +/-4 degrees at 0.05, 0.1, 0.2, and 0.4 Hz; patients +/-1 degrees and +/-2 degrees at 0.05 and 0.1 Hz). We found that added/subtracted extra torque scales the lean response in a systematic way, leading to increase/decrease in lean excursion. Expressing the responses in terms of gain and phase curves, we compared the experimental findings to predictions obtained from a recently published sensory feedback model. For the trials in which the extra torque tended to endanger stance control, predictions in normals were better when the model included force cues than without these cues. This supports our notion that force cues provide an automatic 'gravitational load compensation' upon changes in body mass in normals. The findings in the patients support our notion that the presumed force cue mechanism provides furthermore vestibular loss compensation. Patients showed a body-space stabilization that cannot be explained by ankle angle proprioception, but must involve graviception, most likely by force cues. Our findings suggest that force cues contribute considerably to the redundancy and robustness of the human stance control system.

Human stance control beyond steady state response and inverted pendulum simplification

Systems theory analyses have suggested that human upright stance can be modelled in terms of continuous multi-sensory feedback control. So far, these analyses have considered mainly steady-state responses to periodic stimuli and relied on a simplifying model of the body's mechanics in the form of an inverted pendulum. Therefore, they may have ignored relevant aspects of the postural behaviour. To prove a more general validity of a stance control model that we previously derived from such analyses, we now presented subjects with static-dynamic stimulus combinations and assessed response transients, anterior-posterior (a-p) response asymmetries, and possible deviations from the 'inverted pendulum' simplification (by measuring hip and knee bending). We presented normal subjects (Ns) and vestibular loss patients (Ps) with a-p support surface tilt on a motion platform under the instruction to maintain, with eyes closed, the body upright in space. In addition, subjects were to indicate perceived platform tilt with the help of pointers. We combined a fixed-amplitude sinusoidal tilt (0.1 Hz) with static tilts that were varied in amplitude and direction. We recorded upper body (shoulder) and lower body (hip) excursions in space and centre of pressure (COP) shift, and calculated the centre of mass (COM) angular excursion. We found that: (1) Immediately prior to stimulus onset (which was highly predictable), subjects showed a small anticipatory forward lean. (2) The subsequent transient response consisted of two parts. First, the body was moved along with the platform tilt and then, in the second part, the body excursion was braked by starting tilt compensation. Upon increasing tilt amplitude, the braking point showed a pronounced saturation with for-aft asymmetry. (3) During the following prolonged tilt, the tonic body excursions saturated with increasing static tilt amplitude. This saturation also showed a for-aft asymmetry (backwards saturation more pronounced). In contrast, the dynamic body excursions did not depend on the static tilt stimulus. (4) Tilt compensation occurred mainly in the ankle joints, but also involved small synergistic bendings in hips and knees in fixed register to the ankle rotation. (5) After the end of the stimulus, the body returned towards primary position, followed by a pronounced and slowly decaying tonic overshoot which was mainly related to tilt amplitude and initial tonic body excursion. (6) The responses of Ps qualitatively resembled those of Ns, apart from larger body excursions, less pronounced saturations, and less for-aft asymmetries. (7) Perceived platform tilt of Ns and Ps was correlated with their postural tilt compensations, but unlike the postural responses the perceptual responses overestimated actual static and dynamic tilt by a factor of 3-4. Our findings suggest two, so far undescribed and highly nonlinear mechanisms in human stance control. (a) The braking during the transient response appears to reflect a 'sensory reweighting switch' by which subjects change from a control that is referenced to the support to one that is referenced to space. (b) The saturation of the tonic body excursion also reflects a sensory reweighting mechanism; by this, subjects keep their balancing within a certain excursion limit. The two mechanisms were originally not predicted by our stance control model, but do not invalidate it, because they can simply be added to it. Also the observed for-aft asymmetries can be accounted for (by making thresholds in the two mechanisms asymmetric). In its extended form, the model mimics the previous and the new findings. We also conclude that the 'inverted pendulum' simplification is a legitimate simplification. We demonstrate the utility of the model by implementing it into a humanoid robot that then mimics closely the human experimental data. Finally, we present a hypothetical concept on sensory reweighting mechanisms in human stance control, which is meant to serve as a framework for future research.