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首页> 美国卫生研究院文献>Frontiers in Computational Neuroscience >Evidence in Support of the Independent Channel Model Describing the Sensorimotor Control of Human Stance Using a Humanoid Robot
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Evidence in Support of the Independent Channel Model Describing the Sensorimotor Control of Human Stance Using a Humanoid Robot

机译：支持使用人形机器人描述人类姿态的感觉运动控制的独立通道模型的证据

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The Independent Channel (IC) model is a commonly used linear balance control model in the frequency domain to analyze human balance control using system identification and parameter estimation. The IC model is a rudimentary and noise-free description of balance behavior in the frequency domain, where a stable model representation is not guaranteed. In this study, we conducted firstly time-domain simulations with added noise, and secondly robot experiments by implementing the IC model in a real-world robot (PostuRob II) to test the validity and stability of the model in the time domain and for real world situations. Balance behavior of seven healthy participants was measured during upright stance by applying pseudorandom continuous support surface rotations. System identification and parameter estimation were used to describe the balance behavior with the IC model in the frequency domain. The IC model with the estimated parameters from human experiments was implemented in Simulink for computer simulations including noise in the time domain and robot experiments using the humanoid robot PostuRob II. Again, system identification and parameter estimation were used to describe the simulated balance behavior. Time series, Frequency Response Functions, and estimated parameters from human experiments, computer simulations, and robot experiments were compared with each other. The computer simulations showed similar balance behavior and estimated control parameters compared to the human experiments, in the time and frequency domain. Also, the IC model was able to control the humanoid robot by keeping it upright, but showed small differences compared to the human experiments in the time and frequency domain, especially at high frequencies. We conclude that the IC model, a descriptive model in the frequency domain, can imitate human balance behavior also in the time domain, both in computer simulations with added noise and real world situations with a humanoid robot. This provides further evidence that the IC model is a valid description of human balance control.
机译：独立通道（IC）模型是频域中常用的线性平衡控制模型，用于使用系统识别和参数估计来分析人员平衡控制。 IC模型是频域平衡行为的基本且无噪声的描述，无法保证稳定的模型表示。在这项研究中，我们首先进行了时域仿真并添加了噪声，其次通过在现实世界的机器人（PostuRob II）中实现IC模型来进行机器人实验，以测试该模型在时域和真实环境中的有效性和稳定性。世界形势。通过应用伪随机连续支撑表面旋转，在直立姿势期间测量了七个健康参与者的平衡行为。系统识别和参数估计被用来描述IC模型在频域的平衡行为。在Simulink中实现了具有人类实验估计参数的IC模型，用于计算机模拟，包括时域噪声和使用人形机器人PostuRob II进行的机器人实验。同样，系统识别和参数估计用于描述模拟的平衡行为。将时间序列，频率响应函数以及人体实验，计算机模拟和机器人实验中的估计参数进行了比较。与人类实验相比，计算机仿真在时域和频域显示出相似的平衡行为和估计的控制参数。而且，IC模型能够通过保持其直立状态来控制人形机器人，但是在时域和频域上，尤其是在高频下，与人类实验相比显示出很小的差异。我们得出的结论是，IC模型（在频域中为描述性模型）可以在时域中模仿人的平衡行为，无论是在具有附加噪声的计算机模拟中还是在类人机器人的真实世界情况下。这提供了进一步的证据，证明IC模型是对人的平衡控制的有效描述。

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