Active control of lateral balance in ankle-foot complex system


  • Valerica Mosnegutu Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania
  • Marius Ionescu Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania
  • Dan Dumitriu Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania
  • Veturia Chiroiu Institute of Solid Mechanics of Romanian Academy, Bucharest, Romania


Active control, ankle-foot system


The goal of balance is to avoid falls and keeping the body center of mass over the base of the support. The control of the quiet, upright stance consists from a set of simple feedback laws where a deviation from a set point detected by one or multiple sensor signals, is mapped onto a counter force that brings the center of mass to the set point. This counter force is usually assumed to be generated by the ankle musculature. Walking can be characterized as a sequence of controlled falls.


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