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Modeling and control of anterior–posterior and medial–lateral sways in standing posture

Hou, M.; Fagan, Michael; Vanicek, N.; Dobson, C. A.


M. Hou

Michael Fagan

C. A. Dobson


To study essential anterior–posterior and medial–lateral sways of the stance caused by rotational movements about the ankle and hip joints, a mathematical model is developed for the 3D postural kinematics and dynamics. The model is in the form of nonlinear differential–algebraic equations corresponding to a biomechanical system with holonomic constraints. A nonlinear feedback control law is further derived for stabilizing the upright stance, whilst eliminating internal torques induced by the constraints on postural movements. Numerical simulations of the model parametrized with experimental data of human body segments illustrate the performance of postural balancing with the proposed control.


Hou, M., Fagan, M., Vanicek, N., & Dobson, C. A. (2022). Modeling and control of anterior–posterior and medial–lateral sways in standing posture. Journal of biomechanics, 134, Article 110930.

Journal Article Type Article
Acceptance Date Dec 16, 2021
Online Publication Date Jan 5, 2022
Publication Date Mar 1, 2022
Deposit Date Jan 28, 2022
Publicly Available Date Jan 6, 2023
Journal Journal of Biomechanics
Print ISSN 0021-9290
Electronic ISSN 1873-2380
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 134
Article Number 110930
Keywords Biomechanics; Postural dynamics; 3D modeling; Nonlinear control; Numerical simulation
Public URL


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