CUED Publications database

Selection and control of limb posture for stability.

Franklin, DW and Selen, LPJ and Franklin, S and Wolpert, DM (2013) Selection and control of limb posture for stability. Conf Proc IEEE Eng Med Biol Soc, 2013. pp. 5626-5629. ISSN 1557-170X

Full text not available from this repository.


Impedance control can be used to stabilize the limb against both instability and unpredictable perturbations. Limb posture influences motor noise, energy usage and limb impedance as well as their interaction. Here we examine whether subjects use limb posture as part of a mechanism to regulate limb stability. Subjects performed stabilization tasks while attached to a two dimensional robotic manipulandum which generated a virtual environment. Subjects were instructed that they could perform the stabilization task anywhere in the workspace, while the chosen postures were tracked as subjects repeated the task. In order to investigate the mechanisms behind the chosen limb postures, simulations of the neuro-mechanical system were performed. The results indicate that posture selection is performed to provide energy efficiency in the presence of force variability.

Item Type: Article
Uncontrolled Keywords: Arm Biomechanical Phenomena Female Humans Male Mechanical Phenomena Models, Biological Postural Balance Robotics Sensorimotor Cortex Young Adult
Divisions: Div F > Computational and Biological Learning
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:13
Last Modified: 24 May 2018 02:05