On Laterally Perturbed Human Stance: Experiment, Model, and Control

Figure 1

The marker positions (as in the experiment) at ankle, hip, and shoulder and their corresponding centers and the DIP model with: feet (height ), ankle joint (defined by and angle: ), Leg segment between and (defined by: , which is at from and by , and inertia ), hip joint (, ), and the HAT segment between and (, at from , and by , ).