Postural sway is a result of a complex action–reaction feedback mechanism generated by the interplay between the environment, the sensory perception, the neural system and the musculation. Postural oscillations are complex, possibly even chaotic. Therefore fitting deterministic models on measured time signals is ambiguous. Here we analyse the response to large enough perturbations during quiet standing such that the resulting responses can clearly be distinguished from the local postural sway. Measurements show that typical responses very closely resemble those of a critically damped oscillator. The recovery dynamics are modelled by an inverted pendulum subject to delayed state feedback and is described in the space of the control parameters. We hypothesize that the control gains are tuned such that (H1) the response is at the border of oscillatory and nonoscillatory motion similarly to the critically damped oscillator; (H2) the response is the fastest possible; (H3) the response is a result of a combined optimization of fast response and robustness to sensory perturbations. Parameter fitting shows that H1 and H3 are accepted while H2 is rejected. Thus, the responses of human postural balance to “large” perturbations matches a delayed feedback mechanism that is optimized for a combination of performance and robustness.
The relation between balancing performance and reaction time is investigated for human subjects balancing on rolling balance board of adjustable physical parameters: adjustable rolling radius
R
and adjustable board elevation
h
. A well-defined measure of balancing performance is whether a subject can or cannot balance on balance board with a given geometry (
R
,
h
). The balancing ability is linked to the stabilizability of the underlying two-degree-of-freedom mechanical model subject to a delayed proportional–derivative feedback control. Although different sensory perceptions involve different reaction times at different hierarchical feedback loops, their effect is modelled as a single lumped reaction time delay. Stabilizability is investigated in terms of the time delay in the mechanical model: if the delay is larger than a critical value (critical delay), then no stabilizing feedback control exists. Series of balancing trials by 15 human subjects show that it is more difficult to balance on balance board configuration associated with smaller critical delay, than on balance boards associated with larger critical delay. Experiments verify the feature of the mechanical model that a change in the rolling radius
R
results in larger change in the difficulty of the task than the same change in the board elevation
h
does. The rolling balance board characterized by the two well-defined parameters
R
and
h
can therefore be a useful device to assess human balancing skill and to estimate the corresponding lumped reaction time delay.
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