Visualization and identification of macroscopic dynamics of a human motor control based on the motion measurement

Reassessment of COM-ZMP model for the identification of lateral standing controller of a human

“…Now, the problem is to scrutinize the above possibilities and to reassess the model before collecting more loci of many subjects. P1) has already been investigated in the previous work [20] as follows. As long as we suppose Eq.…”

“…It is known in particular that the macroscopic relationship between the center of mass (COM) and the center of pressure (COP), which is also named the zero-moment point (ZMP) [10], works for a hierarchical design of the whole-body controllers [11], [12], [13], [14], [15], [16], [17], [18], [19]. The authors [20] observed a human's lateral COM movements in a phase space and showed that the human's standing behavior qualitatively has a similar characteristics with the above relationship between COM and ZMP, which we call the COM-ZMP model hereafter. They also noticed, however, that the collected loci had large variability due to the uncertainty of convergence point and were partially inconsistent with the model, so that it was still difficult to identify the controller.…”

Identification of COM Controller of a Human in Stance Based on Motion Measurement and Phase-Space Analysis

“…Earlier versions of this work were presented at 2012 IEEE-RAS International Conference on Humanoid Robots ( Kaneta et al, 2012 ), 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems ( Kaneta et al, 2013 ; Murai et al, 2013 ), and The 8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics ( Murai and Sugihara, 2020 ).…”