摘要：AbstractHuman balancing on rolling balance board in the frontal plane is analyzed using a two DoF mechanical model, where the human body is modeled by a four-bar linkage mechanism and the geometry of the balance board can be adjusted. Human nervous system is assumed to employ a proportional-derivative controller with constant feedback delay identical to the human reaction time. It is shown that a critical feedback delay exists for each geometry of the balance board. If the reaction delay is larger than the critical one, then there are no stabilizing control gains. A numerical algorithm was developed in order to find the critical time delay based on the mechanical model. The numerical results are compared with real balancing trials, and the corresponding feedback delays in the model are compared to the results of actual reaction time tests.
