Abstract
Regulation of postural balance and equilibrium is a complicated neurophysiological process that involves movement coordination for effective execution. The central nervous system (CNS) effectively regulates this task. The proprioceptors impart feedback of fascicle length and fascicle velocity from joint to CNS which then controls the movement. The muscle feedback by proprioceptors i.e. Muscle-Spindle (MS) and Golgi-Tendon-Organs (GTO) have neural transmission latencies that make control of CNS activity and computations an intricate issue to handle. This article discusses a robust nonlinear compensator design relying on vector filed method (feedback-linearization) in the presence of physiological delays for postural stability of a single link biomechanical model. We included small and medium delays in MS sensory feedback and GTO forced feedback. We designed and implemented H 2 dynamic controller with feedback linearization to measure the joint torque or output to maintain postural stability. The joint torque makes up for the latencies and settles the movement profiles inside anatomical imperatives and demonstrates the applicability of feedback linearization with H 2 compensator in the presence of physiological latencies.
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