@article{1440422,
      recid = {1440422},
      author = {Insperger, T. and Milton, John,},
      title = {Delay and uncertainty in human balancing tasks /},
      publisher = {Springer,},
      address = {Cham, Switzerland :},
      pages = {1 online resource},
      year = {2021},
      abstract = {This book demonstrates how delay differential equations  (DDEs) can be used to compliment the laboratory  investigation of human balancing tasks. This approach is  made accessible to non-specialists by comparing  mathematical predictions and experimental observations. For  example, the observation that a longer pole is easier to  balance on a fingertip than a shorter one demonstrates the  essential role played by a time delay in the balance  control mechanism. Another balancing task considered is  postural sway during quiet standing. With the inverted  pendulum as the driver and the feedback control depending  on state variables or on an internal model, the feedback  can be identified by determining a critical pendulum length  and/or a critical delay. This approach is used to identify  the nature of the feedback for the pole balancing and  postural sway examples. Motivated by the question of how  the nervous system deals with these feedback control  challenges, there is a discussion of "microchaotic"  fluctuations in balance control and how robust control can  be achieved in the face of uncertainties in the estimation  of control parameters. The final chapter suggests some  topics for future research. Each chapter includes an  abstract and a point-by-point summary of the main concepts  that have been established. A particularly useful numerical  integration method for the DDEs that arise in balance  control is semi-discretization. This method is described  and a MATLAB template is provided. This book will be a  useful source for anyone studying balance in humans, other  bipedal organisms and humanoid robots. Much of the material  has been used by the authors to teach senior undergraduates  in computational neuroscience and students in bio-systems,  biomedical, mechanical and neural engineering},
      url = {http://library.usi.edu/record/1440422},
      doi = {https://doi.org/10.1007/978-3-030-84582-7},
}