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

Figure 8

(a) The torques generated by the high gain PD: versus , with virtually . y-axis is torque in Nm over time steps of the simulation on the x-axis. (b) Response of controller IIIc. The best fit, with an remaining error of 0.16 . First plot is the ankle trajectory, second is the hip, and third is the perturbation. Finally, the controller IIIc with torque coupling according to the numerical inertia tensor realized the almost exact reproduction of the experiments.

(a)

(b)