Biomechanical Model and Control of Human Postural System and Simulation Based on State-Dependent Riccati Equation

Abstract

The biomechanical model of a human postural system and the simulation of behaviour in movement can be applied in several areas, such as sports, engineering and medicine. The purpose of this work is obtain a dynamic and control model that represents a simplified postural system. The description of kinematic and dynamic links movements is based on Newton-Euler and Euler-Lagrange formulation. The resulting movements and forces are produced by sets of joint torque actuators. These dynamic models are non-linear with multiples input and output and many degrees of freedom. The model must be generic enough for accept several muscle models and control techniques. In this paper, it was used a control based on state dependent Riccati equation theory. A geometric model for simulations of postural control is obtained with Matlab/Simulink software.