Motor mechanisms of balance during quiet standing.

The purpose of this paper is to highlight the motor mechanisms involved in balance as the human, as a biped, continuously defends against gravitational and internal forces to maintain a safe posture. The search for these mechanisms needs precise and valid 3D measurements including both limbs plus valid biomechanical models. The literature shows the need for two force platforms to separate the mechanisms at the ankle and hip (load/unload mechanism). Also, precise measures ( approximately 0.03 mm) of markers on a multi-segment 3D bilateral model are required to record the minute trajectories of all segments and joints. The controlled variable, center-of-mass, is seen to be virtually in phase with the controlling variable, the center-of-pressure, which suggests a 0th order system where a simple series elastic spring could maintain balance. The first model involves a mass/spring/damper of medial/lateral balance: the stiffness was varied with stance width and the predicted sway from a spring controlled inverted pendulum closely matched the experimentally measured stiffness and sway. The second was a non-linear model of the plantarflexor series elastic elements which resulted in three closely validated predictions of anterior/posterior balance: the locus of the gravitational load line, the predicted ankle moment and the ankle stiffness at the operating point.