Table 2 Aggregate simulation results during stabilization against postural disturbances for 5 muscle excitation test cases
CONST:OPT | CONST: MAX | JT Control | ACC Control | JT + ACC Control | |
|---|---|---|---|---|---|
Mean muscle excitation level | 0.521 | 0.908 | 0.623 | 0.564 | 0.664 |
PERFORMANCE RESULTS: MEAN UPPER EXTREMITY LOADING (Newtons) | |||||
Perturbation Direction | |||||
Forward | 66 | 47 | 19 (-60%) | 27 (-44%) | 18 (-62%) |
Backward | 32 | 22 | 17 (-23%) | 25 (+14%) | 17 (-23%) |
Side (Left or Right) | 51 | 36 | 16 (-54%) | 14 (-61%) | 13 (-63%) |
Perturbation Location (Segment) | |||||
Thorax | 61 | 48 | 31 (-35%) | 34 (-27%) | 30 (-36%) |
Pelvis | 58 | 41 | 22 (-47%) | 20 (-49%) | 19 (-53%) |
Thigh (Left or Right) | 52 | 35 | 16 (-54%) | 19 (-44%) | 14 (-61%) |
Shank (Left or Right) | 39 | 22 | 6 (-72%) | 8 (-63%) | 5 (-77%) |
Total Body COM | 70 | 52 | 27 (-48%) | 31 (-40%) | 23 (-55%) |
Support Conditions | |||||
Two-Arm Support | 32 | 28 | 19 (-32%) | 20 (-29%) | 17 (-39%) |
One-Arm Support | 73 | 44 | 16 (-64%) | 21 (-52%) | 15 (-66%) |
One-arm FTP* | 11 | 11 | 3 (-70%) | 7 (-39%) | 3 (-71%) |
Overall Upper Extremity Loading (N)** | 52.7 ± 25 | 35.9 ± 8 | 17.6 ± 3 (-51%) | 20.7 ± 6 (-43%) | 15.3 ± 3 (-56%) |
KINEMATICS RESULTS (During One-Arm Support) | |||||
COM Position (cm) | 7.3 ± 5.6 | 4.5 ± 1.3 | 1.8 ± 0.4 | 3.4 ± 1.6 | 1.8 ± 0.4 |
COM Acceleration (cm/sec2) | 37 ± 15 | 21 ± 4 | 25 ± 4 | 20 ± 4 | 24 ± 4 |
Joint Position Error (deg) | 1.3 ± 0.9 | 0.83 ± 0.2 | 0.27 ± 0.05 | 0.55 ± 0.2 | 0.25 ± 0.04 |
Joint Velocity Error (deg/sec) | 3.0 ± 1.0 | 2.0 ± 0.6 | 1.2 ± 0.1 | 2.1 ± 0.7 | 1.3 ± 0.2 |