Research Article

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

Figure 7

(a) Controller IIIa, best fit, with an remaining error of 45.73 . (b) Controller IIIb, best fit, with an remaining error of 2.7 . Both fitted to the same experimental trial (5)14200lt. First plot is the ankle trajectory, second is the hip, and third is the perturbation. While IIIa fails to stabilize (no torque coupling), even the introduction of simple one to one torque coupling (IIIb) is enough to (1) stabilize the system and (2) almost reproduce the experimental trajectories.
(a)
(b)