Sensory adaptation in human balance control: Lessons for biomimetic robotic bipeds

This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain ho...

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Bibliographic Details
Published in:Neural networks 2008-05, Vol.21 (4), p.621-627
Main Authors: Mahboobin, Arash, Loughlin, Patrick J., Redfern, Mark S., Anderson, Stuart O., Atkeson, Christopher G., Hodgins, Jessica K.
Format: Article
Language:English
Subjects:
Adaptation, Physiological - physiology
Artificial Intelligence
Balance control
Humans
Leg - innervation
Leg - physiology
Muscle, Skeletal - innervation
Muscle, Skeletal - physiology
Neural Networks (Computer)
Orientation - physiology
Postural Balance - physiology
Posture
Proprioception - physiology
Psychomotor Performance - physiology
Robotics - methods
Robotics - trends
Sensation - physiology
Sensory re-weighting
Space Perception - physiology
Vestibule, Labyrinth - physiology
Visual Perception - physiology
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Summary:This paper describes mechanisms used by humans to stand on moving platforms, such as a bus or ship, and to combine body orientation and motion information from multiple sensors including vision, vestibular, and proprioception. A simple mechanism, sensory re-weighting, has been proposed to explain how human subjects learn to reduce the effects of inconsistent sensors on balance. Our goal is to replicate this robust balance behavior in bipedal robots. We review results exploring sensory re-weighting in humans and describe implementations of sensory re-weighting in simulation and on a robot.
ISSN:0893-6080
1879-2782
DOI:10.1016/j.neunet.2008.03.013