one of the inspired models for controlling balance in the biped humanoid robot is the on-line robot balance control. the robot upper body is modeled as an inverted pendulum and the pendulum swing was controlled by the ZMP (Zero Moment Point) method obtained from the FSR (Force Sensitive Resistor) sensors attached on the sole but the Human’s upper body that is the site of the greatest numbers of sensory aggregation (e.g. visual, vestibular and proprioceptive sensors) has the vital role not only in sensing data but also in controlling balance by its swing. The central connections of the vestibular apparatus via Vestibule-ocular reflex together with the vestibular-neck postural system and the vestibulospinal reflex transform head motion in space to relatively functional close kinematic chain during standing and walking. The arm swing beside trunk sway facilitates the fine tuning processes of the balance control. The upper body kinematic parameters can’t be as largely variable as lower limbs kinematics for holding the COM in the BOS in the different walking conditions so because of necessity of placing the COM in the confined BOS it may be the focus on detecting the strategies which the CNS adopting them to modifying visual, vestibular and somatosensory sensory inputs. May be among the most recently upper kinematic issues, the dual tasks -the attention demanding tasks- have been the disputable one that affect the kinematics of the upper body and alter the sensory sensitivity gain of trunk (i.e. upper body) movements. This means if a research has aimed to investigate the effect of a modifying sensory input on the balance control in every part of body without considering the upper body kinematics (that is the main sensory inputs gateway), it is prone to missing the truth exploration.
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- Human’s Upper Body Kinematics: State of Art
- Springer Berlin Heidelberg