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

Figure 12

Controller in the test trial ((5)14200lt). (a) (undelayed ) full and split into components. (b) (undelayed ) full and split into components. As can be easily seen, the primary influence on the applied torques always stems from the velocity contributions, while the other two contributions (displacement and perturbation acceleration) just slightly alter the final torques.

(a)

(b)