Abstract:
The problem of optimal control is considered for a human motion model in the case of stabilometric tests when the posture of a person changes under a stepwise input action. Such a situation is observed in the case of a galvanic vestibular stimulation or a vibrational stimulation of muscles and tendon proprioceptors. The stabilometric test with visual stepwise action is widespread in Russia. A characteristic peculiarity of the center of pressure (COP) trajectories for these tests is the presence of clearly expressed swing-up and overshoot. The solution of optimal control for the inverted pendulum motion controlled by coupling torque is put in correspondence with the results of such tests. The problems of optimal speed-of-response control and linear-quadratic regulator are considered. The solution of these optimum problems is compared with the results of stabilometric tests, which allows one to state a hypothesis on the reasons of the above effects.
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