Postural dynamics in the standing human.

The purpose of this study was to develop a mathematical model of the linkage dynamics in upright standing, and to use this model to study output principles for postural control. The standing human was modelled in the sagittal plane as a three-segment linkage. Mechanical disturbances were simulated as forces which could be applied at various points in this linkage. An iterative approach was used to find joint torque combinations which would restore balance within 80 ms of these mechanical disturbances. The model predicted that a specific proportional relationship was necessary between the hip, knee and ankle torques in order for balance to be restored. This proportional relationship was shown to be a function of the model structure, but independent of the location, direction and amplitude of the disturbance. These predictions were tested experimentally. A disturbance apparatus was designed to apply an impulsive force to the subjects. The joint torque responses of the subjects were in quantitative agreement with the predictions of the model. The results suggest that a fixed relationship between joint torques may be required to restore balance, and this fixed relationship may make the task of postural control simpler for the nervous system.