Modeling of the human vestibular system and integration in a simulator for the study of orientation and balance control

• Ángel Canelo ^[1] ; Inés Tejado ^[1] ; José Emilio Traver ^[1] ; Blas M. Vinagre ^[1] ; Cristina Nuevo Gallardo ^[1]
  1. [1] Universidad de Extremadura

     Universidad de Extremadura

     Badajoz, España

     
• Localización: XXXIX Jornadas de Automática: actas. Badajoz, 5-7 de septiembre de 2018 / coord. por Inés Tejado Balsera, Emiliano Pérez Hernández, Antonio José Calderón Godoy, Isaías González Pérez, María Pilar Merchán García, Jesús Salvador Lozano Rogado, Santiago Salamanca Miño, Blas Manuel Vinagre Jara, 2018, ISBN 978-84-9749-756-5, págs. 636-643
• Idioma: inglés
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• Resumen

  • Biologically, the vestibular feedback is critical to the ability of human body to balance in different conditions. This paper presents a human-inspired orientation and balance control of a three degree- of-freedom (DOF) simulator that emulates a person sitting in a platform. In accordance with the role in humans, the control is essentially based on the vestibular system (VS), which regulates and stabilizes gaze during head motion, by means of modeling the behavior of the semicircular canals and otoliths in the presence of stimuli, i.e., linear and angular accelerations/velocities derived by the turns experienced by the robot head on the three Cartesian axes. The semicircular canal is used as the angular velocity sensor to perform the postural control of the robot. Simulation results in the MATLAB/Simulink environment are given to show that the orientation of the head in space (roll, pitch and yaw) can be successfully controlled by a proportional-integral-derivative (PID) with noise filter for each DOF.