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In human and humanoid posture control models, the focus is typically on single or multiple degrees of freedom inverted pendulum representation associated with a feedback controller for upright stance. The control typically considers ankles, hips, and knees, with the head included as part of the upper body. However, the head houses two crucial contributors to the human motion sensorium: the vestibular and visual systems. In neurodegenerative brain diseases like Progressive Supranuclear Palsy (PSP) and Idiopathic Parkinson’s Disease (IPD), clinical studies highlight the significance of head motion deficits. This study specifically addresses head control during a perturbed upright stance, proposing a neck control model based on the hypothesis of modular posture control. Human experiment data fits the model and derives parameter sets reflecting behavior in the presence of perturbations of different amplitudes. The proposed model can reproduce the nonlinear response observed in humans.

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Modeling Nonlinear Head Sway Response Induced by Support Surface Tilt in Healthy Subjects

  • 会议论文

  • 发表日期：

    2026年

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  • Vittorio Lippi,
  • Christoph Maurer,
  • Christian Haverkamp,
  • Stefan Kammermeier

摘要

In human and humanoid posture control models, the focus is typically on single or multiple degrees of freedom inverted pendulum representation associated with a feedback controller for upright stance. The control typically considers ankles, hips, and knees, with the head included as part of the upper body. However, the head houses two crucial contributors to the human motion sensorium: the vestibular and visual systems. In neurodegenerative brain diseases like Progressive Supranuclear Palsy (PSP) and Idiopathic Parkinson’s Disease (IPD), clinical studies highlight the significance of head motion deficits. This study specifically addresses head control during a perturbed upright stance, proposing a neck control model based on the hypothesis of modular posture control. Human experiment data fits the model and derives parameter sets reflecting behavior in the presence of perturbations of different amplitudes. The proposed model can reproduce the nonlinear response observed in humans.