Stepan Gabor
Department of Applied Mechanics, Budapest University of Technology and Economics, Budapest 1521, Hungary.
Philos Trans A Math Phys Eng Sci. 2009 Mar 28;367(1891):1195-212. doi: 10.1098/rsta.2008.0278.
Mechanical models of human self-balancing often use the Newtonian equations of inverted pendula. While these mathematical models are precise enough on the mechanical side, the ways humans balance themselves are still quite unexplored on the control side. Time delays in the sensory and motoric neural pathways give essential limitations to the stabilization of the human body as a multiple inverted pendulum. The sensory systems supporting each other provide the necessary signals for these control tasks; but the more complicated the system is, the larger delay is introduced. Human ageing as well as our actual physical and mental state affects the time delays in the neural system, and the mechanical structure of the human body also changes in a large range during our lives. The human balancing organ, the labyrinth, and the vision system essentially adapted to these relatively large time delays and parameter regions occurring during balancing. The analytical study of the simplified large-scale time-delayed models of balancing provides a Newtonian insight into the functioning of these organs that may also serve as a basis to support theories and hypotheses on balancing and vision.
人类自我平衡的力学模型通常采用倒立摆的牛顿方程。虽然这些数学模型在力学方面足够精确，但人类自我平衡的方式在控制方面仍有待深入探索。感觉和运动神经通路中的时间延迟对作为多个倒立摆的人体稳定构成了基本限制。相互支持的感觉系统为这些控制任务提供了必要的信号；但系统越复杂，引入的延迟就越大。人类衰老以及我们当前的身心状态会影响神经系统中的时间延迟，而且人体的机械结构在我们的一生中也会发生很大变化。人类的平衡器官——内耳迷路和视觉系统基本上适应了平衡过程中出现的这些相对较大的时间延迟和参数范围。对简化的大规模平衡时滞模型的分析研究为这些器官的功能提供了牛顿力学视角的见解，这也可能为支持有关平衡和视觉的理论及假设提供基础。
