Scrivens J E, Ting L H, Deweerth S P
Dept. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA 30332, USA.
Conf Proc IEEE Eng Med Biol Soc. 2006;2006:4055-7. doi: 10.1109/IEMBS.2006.259876.
Standing in a wide stance during a lateral perturbation is considered to be easier than standing in a narrow stance, but the basis for this ease of stance is not understood. To study the effects of increased stance width in balance control, we created a standing model of a cat with variable stance width and subjected it to lateral displacement perturbations. We studied balance control while varying postural orientation and control parameters that are not accessible in a biological cat. We determined that delayed feedback in the postural controller necessitates the reduction of active feedback gain as stance width increases from narrow to wide stance. By establishing the change in control requirements in a system that resembles a biological configuration, we can predict that similar control changes may occur in biological systems.
在受到侧向干扰时，采用宽站姿被认为比窄站姿更容易，但这种站姿轻松的依据尚不清楚。为了研究增加站姿宽度对平衡控制的影响，我们创建了一个站姿宽度可变的猫站立模型，并对其施加侧向位移干扰。我们在改变姿势方向和控制参数的同时研究平衡控制，而这些在真实的猫身上是无法实现的。我们确定，当站姿宽度从窄变宽时，姿势控制器中的延迟反馈需要降低主动反馈增益。通过在一个类似于生物结构的系统中确定控制需求的变化，我们可以预测生物系统中可能会发生类似的控制变化。
