Attitude Stabilization Control Research Articles

The Influence of Artificial Breast Volume Induction on Postural Stability, Postural Orientation, and Neuromuscular Control in Healthy Women: A Cross-Sectional Study

(1) Background: The percentage of breast augmentations has increased in recent years alongside the frequency of implant removals. Musculoskeletal and postural disorders are often overlooked during this removal process. Research indicates that excess anterior load from breast implants can disrupt postural control and potentially lead to short- or long-term musculoskeletal dysfunction. This study aims to evaluate the immediate changes in postural control after artificial breast augmentation in healthy female volunteers. (2) Methods: Spinal angles, the center of pressure (CoP), and electromyographic activity of the spinal muscles were recorded in the static position and during the functional reach test (FRT) without and with implants of different volumes (220 mL, 315 mL, and 365 mL). Subjective perceptions of effort, comfort, weight, and performance in the FRT were also assessed. (3) Results: Statistical differences were significant in the scapular elevator during the one-minute standing position (lower activation with the 220 mL implant compared to the control and 315 mL) and in the trapezius muscles during the FRT (lower activation in the upper trapezius in the 315 mL vs. control in the reach phase and 220 mL vs. control in the return phase and higher activation in the lower trapezius in the 315 and 365 mL vs. control in the reach phase). Additionally, significant differences were identified in the performance of the FRT and the associated subjective perceptions. (4) Conclusions: Breast implants with sizes of 220, 315, and 365 mL can alter scapular neuromuscular control, but these differences do not seem substantial enough to result in negative biomechanical effects in the short-term analysis.

Disturbance Robust Attitude Stabilization of Multirotors with Control Moment Gyros.

This paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are highly susceptible to disturbances such as wind, making it challenging to achieve stable attitude control using rotor thrust alone. To address this issue, we employ CMGs to provide robust attitude control and apply Fast Terminal Sliding Mode Control (FTSMC) to ensure fast and accurate convergence within a finite time. The combination of CMGs' torque amplification capability with the DRDL enables the system to effectively avoid singularities and maintain stable control performance in the presence of disturbances. Simulation results demonstrate that the CMG-equipped hexarotor utilizing the DRDL rapidly converges to the target attitude despite external disturbances, while minimizing oscillations in both motor speed and gimbal movement. Additionally, compared to the pseudo-inverse control method, the proposed approach significantly improves singularity avoidance and disturbance mitigation. The proposed control framework enhances the stability and reliability of UAV operations and demonstrates its potential for high-performance control in challenging disturbance environments.

Fast and Intelligent Proportional–Integral–Derivative (PID) Attitude Control of Quadrotor and Dual-Rotor Coaxial Unmanned Aerial Vehicles (UAVs) Based on All-True Composite Motion

The construction of a six-degree-of-freedom (6-DOF) model for the composite motion of the actual mechanical structure (defined as an all-true composite motion model) of unmanned aerial vehicles (UAVs) is a prerequisite for achieving stable control of rotorcraft UAVs. Therefore, this paper proposes a construction approach for a nonlinear 6-DOF model of quadrotor and dual-rotor coaxial UAVs based on all-true composite motion. Two types of attitude–altitude control systems for rotorcraft based on a self-optimizing intelligent proportional–integral–derivative (PID) control method are constructed. Three-dimensional geometric models of the two rotorcraft types, incorporating their physical characteristics, are built. The attitude responses to different pulse width modulation (PWM) inputs are tested, thereby verifying the accuracy of the all-true composite model and analyzing the stability of the two types of UAVs. Furthermore, two types of attitude–altitude control inner loop controllers are designed, and the intelligent PID control algorithm is used to optimize the control parameters. Further verification of the robustness of the optimized parameters is carried out, and the designed attitude controllers are verified via experiment using a turntable. The simulation and experimental results show that the proposed all-true composite motion model and controller design method can accurately simulate the dynamic characteristics of the two types of UAVs and maintain stable attitude control, thus providing a valuable reference for the accurate attitude control of rotorcraft UAVs based on all-true composite motion.

The clinical effects of pulsed electromagnetic field therapy for the management of chronic ankle instability: a study protocol for a double-blind randomized controlled trial

BackgroundChronic ankle instability is associated with long-term neuromuscular deficits involving poor postural control and peroneal muscular impairment. Symptoms of chronic ankle instability hinder engagement in physical activity and undermine the patient’s quality of life. Despite the existence of various treatment modalities, none has conclusively provided evidence of clinical effectiveness in counteracting neuromuscular deficits, such as arthrogenic muscle inhibition of the peroneal longus (PL). Pulse electromagnetic field therapy employed as an adjunct biophysical therapy can potentially improve stability by mitigating peroneal muscle weakness and by activating the peroneal muscle. We postulate that by combining standard care (muscle strengthening, balance training, and range of motion exercise) with pulse electromagnetic field therapy, postural control stability and peroneal muscle weakness will significantly improve.MethodsThis is a prospective, randomized, double-blind, placebo-controlled trial. A total of 48 adults with chronic ankle instability will be recruited and randomly allocated into either the intervention or control groups. The intervention group (n = 24) will receive active pulse electromagnetic field therapy and standard exercise training, while the control group (n = 24) will receive sham pulse electromagnetic field therapy and standard exercise training for 8 weeks. Primary and secondary outcomes will be evaluated at baseline, week 4, 8 as well as at 3-, 6-, and 12-month follow-up visits.DiscussionChronic ankle instability is a common debilitating condition without a curative conservative treatment. Investigating different treatment modalities will be essential for improving rehabilitation outcomes in this clinical population. This study will investigate the effectiveness of pulsed electromagnetic field therapy on the functional and clinical outcomes in the chronic ankle instability population. This trial may demonstrate this non-invasive biophysical therapy to be an effective measure to help patients with CAI.Trial registrationClinicalTrials.gov NCT05500885. Registered on August 13, 2022.

Parallel layered scheme-based integrated orbit-attitude-vibration coupled dynamics and control for large-scale spacecraft.

This paper investigates an integrated model-control scheme for large-scale spacecraft, focusing on orbit-attitude-vibration dynamics subject to strong time-varying coupling characteristics. The proposed scheme aims to achieve cooperative modeling and control for orbit maintenance, attitude stabilization and vibration suppression simultaneously. An integrated dynamic model is established using the Absolute Nodal Coordinate Formulation and Lagrangian mechanics, where time-varying coupling terms are preserved to enhance model integrity, contrasting with the reduction and decoupling methods commonly adopted in existing literature. To address the time-varying coupling effect among the orbit, attitude, and vibration degrees of freedom, a parallel layered scheme is proposed to enable joint integrated modeling-control design while avoiding complex dynamic calculations and enhancing control precision. The scheme is directly applicable to the un-simplified time-varying coupling dynamic model. Specifically, within this parallel layered scheme, vibration control, owing to its relative independence, is separated from orbit-attitude dynamics through equivalent dynamic conversion. Consequently, a disturbance observer-based terminal sliding mode controller is developed to stabilize the orbit and attitude with vibration suppression achieved automatically via active feedback mechanism. Finally, numerical simulations of large-scale spacecraft system are conducted to demonstrate the effectiveness and performance of the proposed approach.

Non-singular sliding mode control-based attitude control analysis of ELITE satellite with flywheel failures

Abstract This paper addresses the challenge of maintaining the attitude control of the ELITE satellite in the event of flywheel failures. Given the critical need for highly stable and precise attitude control during Time-Delay Integration (TDI) Imaging missions, a failure in any flywheels poses a significant threat to the satellite’s attitude control stability and accuracy. To tackle this issue, a Non-singular Sliding Mode Control (NSMC) method was proposed to ensure ELITE’s continued performance under flywheel failure conditions. The research involves a thorough analysis of ELITE’s attitude dynamics, followed by designing an NSMC tailored to its specifications. Theoretical validation of the NSMC’s finite-time stability was achieved using the Lyapunov function. Numerical simulations conducted demonstrate that the proposed NSMC method enables ELITE to maintain its attitude control stability and precision even in the presence of flywheel failures, thereby ensuring mission continuity and reliability.

Vehicle posture wheelbase preview control of in-wheel motors drive intelligent vehicle on potholed road

The in-wheel motors drive intelligent vehicle (IMDIV) has a strong ability of dynamic control, which makes it be a major development path of intelligent vehicles in the future. However, its stability is easily deteriorated by the impact of the road when driving on potholed road. To tackle this issue, a vehicle posture control method based on road feedback and elevation recognition is proposed. Firstly, an elevation recognition algorithm of adaptive Kalman filter (AKF) based on vehicle dynamic response is proposed after considering the flooded road and the system noise uncertainty. Secondly, a vehicle posture controller of fuzzy active disturbance rejection control (FADRC) is designed, with the function of dynamically adjusting the active disturbance rejection control (ADRC) parameters. It is designed to implement front suspension feedback control and rear suspension wheelbase preview control. At last, the road elevation recognition algorithm and vehicle posture control method are proved by Simulink simulation and off-line hardware in the loop test. The results revealed that the AKF can effectively recognize both white noise pavement and potholed road, and the recognition accuracy is greater than 90%. The FADRC controller realizes accurate front suspension feedback control and rear suspension wheelbase preview control by adjusting the real-time online parameters of ADRC. The proposed vehicle posture control method can effectively control the pitch and roll motion, which significantly improves the stability of IMDIV on potholed road. This study can serve as a reference for the posture stability control of IMDIV on potholed road.

Long-range cross-correlations between center of pressure velocity and colored noises provided during quiet standing

Unperceivable electrical noise stimulation has been applied to improve postural control through the enhancement of somatosensory feedback. It has been observed that stimulation with a pink noise (1/f) structure is more effective than stimulation with other noise structures. In addition, the 1/f structure embedded in the postural control system may have a superior effect on postural control stabilization. However, the direct relationship between the long-range correlations of the pink-noise signal applied to somatosensory receptors and those of the postural control system has not been elucidated. Thus, we aimed to explore a common long-range correlation factor shared in the time series of the provided noise and foot center of pressure (CoP) during quiet standing. Sixteen young adults stood quietly on the force platform for 65 s. Four noise conditions (no stimulation and stimulation of knee joints with white-, pink-, and red-noise-like signals) were employed during the standing trials. The detrending moving-average cross-correlation analysis revealed that in each of the anteroposterior and mediolateral directions, the CoP velocity time series displayed significant long-range cross-correlations with the white and pink noise signals provided at that time, whereas such an effect was not observed in the red noise signal. This result indicates that pink and white noise signals would alter the temporal behavior of the CoP during quiet standing, although the mechanism remains to be elucidated.

Multi-constrained predictive optimal control for spacecraft attitude stabilization and tracking with performance guarantees

This paper investigates a novel predictive control approach for spacecraft attitude stabilization and tracking problems with consideration of performance constraints, angular velocity limitation and control saturation. First, the prescribed performance control (PPC) structure and barrier Lyapunov function (BLF) are utilized to design the cost function of optimal control problem. Subsequently, a multi-constrained predictive optimal controller for spacecraft attitude stabilization and tracking with performance guarantees is devised via exploiting an explicit receding horizon optimization control strategy under actuator saturation. Compared with the existing methods, the major merit of the proposed one lies in the semi-analytic solving scheme of optimal control problems with high computing efficiency and simultaneous handling of multiple constraints without increasing computational burden. Finally, two illustrative examples are employed to validate the effectiveness of the proposed control method.

Hierarchical attitude stabilization controller design and analysis for underactuated spacecraft on SO(3)

In this paper, the complete attitude stabilization of underactuated spacecraft with two parallel single gimbal control moment gyroscopes (SGCMGs) is explored on 3-dimensional special orthogonal group (SO(3)) and its corresponding Lie algebra (so(3)). Instead of assumption on zero total angular momentum in existing article, a less conservative criterion is adopted to ensure system controllability, which does not simplify system dynamics. On the kinematic level, an ideal controller is proposed to globally stabilize attitude without singular initial condition and stagnation behavior. Besides, the ideal kinematic controller is developed on so(3), which avoids singularity or unwinding phenomenon caused by other attitude parameters. On the dynamic level, a hierarchical controller consisting of two parts is proposed. The high-level sliding mode part enforces finite time stabilization of angular velocity about underactuated axis while the low-level part tracks ideal angular velocity commands about actuated axes. A rigorous proof of the whole dynamic-kinematic system that has not been explored before is given. Analysis of hierarchical control from the perspective of linear algebra provides a novel insight into controller design for underactuated systems. Furthermore, the paradigm of controller design which is applicable to other underactuated systems is derived. Simulation results validate the effectiveness of the proposed control logic.

Aerodynamic Hinge Moment Characteristics of Pitch-Regulated Mechanism for Mars Rotorcraft: Investigation and Experiments

The precise regulation of the hinge moment and pitch angle driven by the pitch-regulated mechanism is crucial for modulating thrust requirements and ensuring stable attitude control in Martian coaxial rotorcraft. Nonetheless, the aerodynamic hinge moment in rotorcraft presents time-dependent dynamic properties, posing significant challenges for accurate measurement and assessment for such characteristics. In this study, we delve into the detailed aerodynamic hinge moment characteristics associated with the pitch-regulated mechanism of Mars rotorcraft under a spectrum of control strategies. A robust computational fluid dynamics model was developed to simulate the rotor’s aerodynamic loads, accompanied by a quantitative hinge moment characterization that takes into account the effects of varying rotor speeds and pitch angles. Our investigation yielded a thorough understanding of the interplay between aerodynamic load behavior and rotor surface pressure distributions, leading to the creation of an empirical mapping model for hinge moments. To validate our findings, we engineered a specialized test apparatus capable of measuring the hinge moments of the pitch-regulated mechanism, facilitating empirical assessments under replicated atmospheric conditions of both Earth and Mars. The result indicates aerodynamic hinge moments depend nonlinearly on rotational speed, peaking at a 0° pitch angle and showing minimal sensitivity to pitch under 0°. Above 0°, hinge moments decrease, reaching a minimum at 15° before rising again. Simulation and experimental comparisons demonstrate that under Earth conditions, the aerodynamic performance and hinge moment errors are within 8.54% and 24.90%, respectively. For Mars conditions, errors remain below 11.62%, proving the CFD model’s reliability. This supports its application in the design and optimization of Mars rotorcraft systems, enhancing their flight control through the accurate prediction of aerodynamic hinge moments across various pitch angles and speeds.

Attitude stability control for 6WID unmanned ground vehicle during steering: A collaborative controller considering minimizing tire slip energy loss

The instability of vehicle attitude and wheel slippage during turning on complex roads are key factors affecting the operational efficiency and accuracy of a variable wheelbase six-wheel independent drive unmanned ground vehicle (6WID UGV), posing a serious threat to driving safety. This article proposes a hierarchical coordinated controller to improve the attitude stability of a 6WID UGV equipped with interconnected active hydro pneumatic suspension (IAHPS) and reduce tire slip energy loss. Firstly, an integral sliding mode controller with adaptive high-order coupling factor (AHOCF-ISMC) is designed to determine the active anti roll torque required for stable roll attitude. An adaptive high-order coupling factor is introduced in the controller framework to couple physical components with different properties, avoiding overshoot and oscillation caused by integral saturation of the controller. Secondly, based on satisfying the stability of the roll attitude, the lateral stability and longitudinal traction characteristics of the vehicle are constrained and controlled. An optimization function was established to minimize tire slip energy loss within the feasible range of wheel torque determined by lateral and longitudinal control objectives. Thirdly, the particle swarm optimization algorithm was improved (IPSO) by designing adaptive weighting factors and learning factors, and is used to optimize the wheel torque distribution scheme under composite constraint conditions. Finally, the effectiveness of the coordinated controller was tested and validated in different scenarios. The results show that the designed controller has good control performance and robustness without the need to establish an accurate mathematical model, and performs well in terms of economic benefits and application prospects.

Controlling the fold: proprioceptive feedback in a soft origami robot.

We demonstrate proprioceptive feedback control of a one degree of freedom soft, pneumatically actuated origami robot and an assembly of two robots into a two degree of freedom system. The base unit of the robot is a 41 mm long, 3-D printed Kresling-inspired structure with six sets of sidewall folds and one degree of freedom. Pneumatic actuation, provided by negative fluidic pressure, causes the robot to contract. Capacitive sensors patterned onto the robot provide position estimation and serve as input to a feedback controller. Using a finite element approach, the electrode shapes are optimized for sensitivity at larger (more obtuse) fold angles to improve control across the actuation range. We demonstrate stable position control through discrete-time proportional-integral-derivative (PID) control on a single unit Kresling robot via a series of static set points to 17 mm, dynamic set point stepping, and sinusoidal signal following, with error under 3 mm up to 10 mm contraction. We also demonstrate a two-unit Kresling robot with two degree of freedom extension and rotation control, which has error of 1.7 mm and 6.1°. This work contributes optimized capacitive electrode design and the demonstration of closed-loop feedback position control without visual tracking as an input. This approach to capacitance sensing and modeling constitutes a major step towards proprioceptive state estimation and feedback control in soft origami robotics.

Impact of professional dance training on characteristics of postural sway.

The stability of human upright posture determines the range and dynamics of movements performed. Consequently, the repertoire and quality of the movements performed by a dancer are mainly determined by the efficiency of postural control. This is of particular importance in professional dance training that should focus on shaping optimal movement‑posture interaction. To get a deeper insight into this problem, the impact of the training on postural sway characteristics during quiet stance was analyzed in 16 female students in the seventh grade of a ballet school and compared with the size‑ and age‑matched group of secondary school students. Center of pressure trajectories were recorded for 25.6 s while standing quiet with eyes open (EO) and then with eyes closed (EC). The assessment of postural control was based on novel normalized sway parameters including sway vector (SV), sway anteroposterior (AP) and mediolateral (ML) directional indices (DIAP and DIML), and sway ratios (SRAP and SRML). The results document a significant contribution of vision to postural stability control in ballet students, which seems to compensate for training‑related changes in joint mobility and altered activity ranges of the legs' muscles. In the control group standing with EC, SV amplitude increased only by 18% whereas in the ballet students tested in the same conditions, the increase exceeded 72%. Under full control of standing posture (EO test), the training‑related increase of leg muscle forces allows dancers to maintain balance with lesser effort as documented here by 21% reduced SRAP. Additionally, the dancers while tested with their EC exhibited a 12% increase in the anteroposterior sway with a concomitant reduction of the mediolateral sway. The resulting changes in the postural control asymmetry were documented by both DIAP/DIML and SV azimuth. In conclusion, our novel analysis of postural sway seems a useful tool in monitoring the effects of training as well as the proper course of postural control development in children and adolescents.

Analysis of ankle muscle activity: A study on static balance with eyes closed and high-heeled shoes

BackgroundChanges in sensory afferent interfere with the control of postural stability by the central nervous system. Wearing high-heeled shoes is an example of an external disturbance that changes sensory inputs and results in several postural adjustments to control stability. Thus, our purpose is to investigate the influence of high-heeled shoes and visual absence on maintenance of static balance and on ankle muscle activity among young women. Our hypothesis is that the combination of high-heeled shoes with visual absence lead to an increase of postural sway and of levels of activation of the stabilizing ankle muscles. MethodsNine volunteers remained in an unrestrained erect posture on a force platform for collecting of stabilometric and electromyographic parameters in four bipodal conditions: barefoot with open eyes, barefoot with closed eyes, with high heels and open eyes and with high heels and closed eyes. ResultsWhen comparing the experimental condition open and closed eyes with high heels, there were significant differences for all stabilometric variables, except for the confidence ellipse area. Statistical differences were found for the medial gastrocnemius muscle in all comparison pairs with high heels. ConclusionThe wearing high-heeled shoes showed to be the most influencing disturbance on static balance. Our findings suggest ankle muscle activity is adapted according to changes of the center of pressure sway and the wearing of high heels changes the muscle activation and postural sway.

Nonlinear Attitude and Altitude Trajectory Tracking Control of a Bicopter UAV in Geometric Framework

In this paper, we deal with a Bicopter drone that has two thrusters and two tilting servos. Both the position and attitude dynamics of Bicopter are globally expressed on the Special Euclidean group SE3. A simple control allocation method is proposed to map between the control wrench and actuator inputs for the Bicopter. A geometric nonlinear attitude and altitude tracking controller is developed for the Bicopter and the asymptotic stability analysis is performed using the Lyapunov method for the closed-loop nonlinear system. The performance of the proposed altitude and attitude stabilization controller is validated through experimental hardware developed in-house. The attitude controller performance is validated through simulations and shown to be comparable against an linear matrix inequality-based control law.

Stride width and postural stability in frontal gait disorders and Parkinson's disease.

Older adults, as well as those with certain neurological disorders, may compensate for poor neural control of postural stability by widening their base of foot support while walking. However, the extent to which this wide-based gait improves postural stability or affects postural control strategies has not been explored. People with idiopathic Parkinson's disease (iPD, n = 72), frontal gait disorders (FGD, n = 16), and healthy older adults (n = 32) performed walking trials at their preferred speed over an 8-m-long, instrumented walkway. People with iPD were tested in their OFF medication state. Analyses of covariance were performed to determine the associations between stride width and measures of lateral stability control. People with FGD exhibited a wide-based gait compared to both healthy older adults and iPD. An increased stride width was associated with an increase in lateral margin of stability in FGD. Unlike healthy older adults or iPD, people with FGD did not externally rotate their feet (toe-out angle) or shift their center of pressure laterally to aid lateral dynamic stability during walking but slowed their gait instead to increase stability. By adopting a slow, wide-based gait, people with FGD take advantage of the passive, pendular mechanics of walking.

A Separation Modeling Method for Morphing QUAV: Analytical Solutions for Constraint Forces Under Deformation

Abstract A morphing quadrotor unmanned aerial vehicle (QUAV) possesses the remarkable ability to alter its shape, enabling it to navigate through gaps smaller than its wingspan. However, these deformations result in changes to the system's center of gravity and moment of inertia, necessitating real-time computation of each state's variations. To address this challenge, we propose a dynamic modeling approach based on the Udwadia−Kalaba (U-K) method. The morphing QUAV is divided into three separate subsystems, with the dynamic modeling for each subsystem conducted independently. Subsequently, the QUAV's deformation states and inherent structure are introduced in the form of constraints, and the constrained forces are derived using the U-K equation. By combining these analytical solutions, the model of the QUAV under continuous deformation is obtained. This approach effectively simplifies the modeling computations caused by changes in the system's center of gravity and moment of inertia during deformation. A control approach is proposed to achieve attitude stabilization and altitude control for the morphing QUAV. Ultimately, the stable motion of the morphing QUAV is validated through numerical simulations.

Postural control and cognitive flexibility in skilled athletes: Insights from dual-task performance and event-related potentials

Athletes of skill-oriented sports (hereinafter referred to as “skilled athletes”), such as gymnasts and rhythmic gymnasts, have demonstrated better postural control than nonathletes. However, previous studies have mainly focused on single postural tasks and have not considered how skilled athletes use and allocate attentional resources during postural control. This research used the event-related potential (ERP) to explore the postural control performance of skilled athletes under cognitive processes and their utilization and allocation of attentional resources. A dual-task paradigm was used to simulate the actual situation in sports. 26 skilled athletes and 26 nonathletes were required to perform postural control and task-switching simultaneously. The results showed that skilled athletes demonstrated more postural control stability and a higher accuracy of task-switching than nonathletes in all dual tasks. Compared with nonathletes, they showed a stable enhanced N1 (electrodes: Oz, O1, and O2) amplitude during three postures. Moreover, larger N2 component on Fz, FCz, and Cz and theta band power was found in the frontal cortex (on Fz, FCz) of skilled athletes under feet together and single leg standing posture. The study illustrated that skilled athletes show greater frontal activation during dual tasks, which allows for more rational and flexible brain attentional resource input and allocation in cognitive processes, this may be due to long-term professional training, which enables them to have a higher level of automation of postural control and cognitive flexibility. This study’s results offer valuable insights into the interplay between postural control and multitasking in skilled athletes, and its outcomes carry significant implications for the training and assessment of athletes across various sports.

Examination of sensory reception and integration abilities in children with and without Prader-Willi syndrome

BackgroundGood postural stability control is dependent upon the complex integration of incoming sensory information (visual, somatosensory, vestibular) with neuromotor responses that are constructed in advance of a voluntary action or in response to an unexpected perturbation. AimsTo examine whether differences exist in how sensory inputs are used to control standing balance in children with and without Prader-Willi syndrome (PWS). Methods and ProceduresIn this cross-sectional study, 18 children with PWS and 51 children categorized as obese but without PWS (without PWS) ages 8–11 completed the Sensory Organization Test®. This test measures the relative contributions of vision, somatosensory, and vestibular inputs to the control of standing balance. The composite equilibrium score (CES) derived from performance in all sensory conditions, in addition to equilibrium scores (EQs) and falls per condition were compared between groups. Outcomes and ResultsThe CES was lower for children with PWS compared to children without PWS (M=53.93, SD=14.56 vs. M=66.17, SD=9.89, p = .001) while EQs declined in both groups between conditions 1 and 4 (F (1.305, 66.577) = 71.381, p < .001). No group differences in the percent of falls were evident in condition 5 but more children with PWS fell in condition 6 (χ2 (1) = 7.468, p = .006). Group differences in frequency of repeated falls also approached significance in conditions 5 (χ2 (3) = 4.630, p = .099) and 6 (χ2 (3) = 5.167, p = .076). Conclusions and ImplicationsChildren with PWS demonstrated a lower overall level of postural control and increased sway when compared to children with obesity. Both the higher incidence and repeated nature of falls in children with PWS in conditions 5 and 6 suggest an inability to adapt to sensory conditions in which vestibular input must be prioritized. Postural control training programs in this population should include activities that improve their ability to appropriately weight sensory information in changing sensory environments, with a particular focus on the vestibular system. What does this study add?This study shows that children with PWS demonstrate a lower level of postural stability. The results suggest that children with PWS show inability to adapt to sensory conditions that require prioritizing vestibular information to maintain postural control. This information can be used to help guide training programs in this population.