W3 - Balance Flashcards

1
Q

Define Human balance:

A
  • the active control of the physical shape of the limbs to provide varying degrees of passive stability and muscular actions to provide compensating active stability for passive inefficiencies
  • Balance is considered to be a simple skill, but is actually quite complex underneath
  • Humans are passively unstable, so there is a need for active control to maintain balance
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2
Q

What is meant by posture?

A

includes the body orientation e.g.: vertical posture, maintained over a certain period of time & resistance to external perturbations[local stability] –> such conditions effecting posture include Parkinson’s disease, impairing balance and body equilibrium

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3
Q

Provide 3 examples of postural control:

A
  1. A figure skater maintaining a beautiful arm configuration while sliding over the skating rink (arm orientation maintained
    respect to the body but not with respect to the environment)
  2. A musician playing the violin, moving the body and the violin (hand posture may be maintained with
    respect to the violin, not necessarily to the body or the external space)
  3. Holding the handles while riding a bicycle (posture is maintained with respect to a part of the bicycle, not the whole bicycle, e.g., during sharp turns, not the body, and not the environment).
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4
Q

What are the 2 views on postural sway (Nikolai Bernstein, 1896-1967)?

A
  1. A consequence of noise in the neuromotor system, a sign of imperfection in the human body(kept low by good neural control & to avoid losing balance. The necessary background component for any voluntary motor action
  2. A purposeful design of the neurophysiological system for postural control e.g.: Parkinson’s patients may loose balance due to little perturbations. Meaning healthy people have higher sway but more control
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5
Q

What are the reasons for postural sway?

A
  1. Passive instability
  2. Muscle errors
  3. Sensory errors
  4. Feedback delays - delays from neuron control between sensory and muscle systems
  5. Control strategies
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6
Q

What is the posture-movement paradox(Von Holst & Mittelstaedt, 1950)?

How does this relate to a postural equilibrium?

A
  • a number of posture-stabilizing mechanisms generating forces against external perturbations applied during steady-state motor tasks at very short time delays (under 100 ms), shortest simple reaction time
  • caused quick postural corrections, but not voluntary movements
  • Where posture is a spatial characteristic e.g.: muscle length, joint angle, stabillised –> maintained by synergies
  • similar to the equilibrium hypothesis, assuming that equilibrium states of the body in environment is controlled by muscle correction reflexes
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7
Q

What is stability?

A

goes hand-in-hand with sway
* The tendency of a body to remain or return to its initial position following the application of a force
* Stability can be passive or dynamic
* Maintain CoM within base of support

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8
Q

Provide examples of:
- stable equilibrium (triangle)
- unstable equilibrium (hammer)
- neutral equilibrium (circle)

A
  • Stable - force has to rise(humans) e.g.: a triangle
  • Unstable - energy e.g.: gravity keeps getting lower. Perturbations cause imbalance(humans) e.g.: Pendulum
  • Neutral - energy does not change, it just keeps going does not fall e.g.: sphere
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9
Q

What are the factors that determine passive stability?

A

What makes things stable/unstable
* weight - harder to perturb it as has increased weight
* area of the base
* horizontal distance of the CoG to pivot point - CoM has to go further to reach pivot point
* height of the CoG above the base - does have to be tipped as far when higher up
- CoP is the vertical resultant forces acting on the body from the supporting surface

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10
Q

What is passive instability?

A

In standing, humans are passively unstable, based on:
– Small base of support
– High CoG above the base
– Like balancing a pencil
—> Resistance to current state, thought of in a passive state
Human standing is dynamically stable
– Needs active muscle contractions

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11
Q

Describe muscle errors:

A

Muscles cannot produce a perfectly consistent force:
– Variation / error
– Underestimate and overestimate force causes sway
Muscles produce force between attachments:
– Across multiple joints: variation between muscle forces
– In multiple planes / axes: needs to be counteracted by
Other muscles

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12
Q

what are sensory errors?

A

Our sensory system is not perfect
There are many different sensory organs:
– Vision 10%
– Vestibular apparatus 20%
– Somatosensory proprioception 70%
This leads to sensory conflict from different systems having different inputs
Some require movement to work, not an absolute state

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13
Q

Describe and draw the sensory threshold effect:
(Clark et al., 1995)
(Fitzpatrick & McCloskey, 1994)

A

Slow movements can only detect position sense, and only detect movement sense if moved enough along position sense
- Vestibular system is not used for quiet stance as does not detect small movements/perturbations

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14
Q

When can feedback delays occur?

Draw the graph by (Blenkinsop, Pain & Hiley, 2006)

A

INPUT –> delay –> PROCESS –> delay –> OUTPUT ¬v
¬> FEEDBACK DELAY <———–

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15
Q

What is sensory delay?

A
  • Sensory delay is the amount of time it takes the sensory threshold to be reached, fast movement is smaller delay
  • the delay of signals coming into the brain that cause muscle contraction etc
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16
Q

What are the different types of feedback delays?

A

Sensory Delay - Time taken to detect movement (sensory thresholds)
Neurological Delay (65-130 ms)
- Afferent signal transmission (fairly constant delay ~50 ms) - depends
How far away from the core it is coming from
* Decision time
- Efferent signal transmission (fairly constant delay ~50 ms)
Electromechancial Delay (13-55 ms): closer to 30ms = Time from muscle activation until force is produced - transmission at the synapses takes the most time, easier to increase force than decrease force

17
Q

Name control strategies for human movement:

A
  • Ankle strategy - useful for small slow perturbations (y-axis)
  • Hip strategy - used for large or rapid perturbations or when the base of support is small (x-axis)
  • Mixed strategy
  • Arm swings - trying not to step after landing
  • Stepping - comes sooner in day-to-day movement such as after ankle strategy
    All of which we want inside the tolerance region, and can only avoid falling over within the region of reversibility
18
Q

Define:
Rambling
Trembling

A

Rambling - measures the time series of the COP trajectory in the AP and ML directions
Trembling - the difference between the COP and rambling, body oscillations around a set point

19
Q

Describe the ankle strategy:

A
  • Fixed hip angle
  • Controls COM via ankle torque
  • Good when low surface friction
  • Bad on narrow surfaces
  • Our preferred strategy during quiet stance
20
Q

Describe the hip strategy:

A
  • Hip angle opposite to ankle
  • Controls COM via horizontal force
  • Good on narrow surfaces
  • Bad when low surface friction
  • Requires less effort
  • Is generally quicker
21
Q

What is the control model?

A
  • This is an expansion of the information processing model : stimulus identification -> response selection -> response programming
  • Involves a model with assumptions, & some simplification of the true system
  • Any variation is seen as unwanted error
22
Q

What are the different posture-stabilizing mechanisms?

  • how long does each reflex take roughly?
A
  • Preflexes - These act to external perturbations with a 0 time delay
  • Tonic Reflexes - time delay of 50-70ms as there is a transmission of sensory signals to the CNS
  • Long-loop reflexes - take 100-150ms
  • Voluntary contractions take 150-200ms to respond to perturbations
  • Visual and vestibular reflexes take 180-200ms

Preprogrammed reactions - are suboptimal and prepared by the CNS prior to a perturbation to be compensated by a voluntary contraction

23
Q

What are the main 3 sections of a PID controller?

A

Proportional:
– Present state of the system (position/angle)
– Quick corrections, but leads to overshoot
Integral:
– Past state of the system (average over time)
– Corrects for drift, but is slow to correct. Pushing back to the reference state
Derivative:
– Future state of the system (current velocity)
– Prevents overshooting and is similar to dampening(things oscillate quickly then return to normal

24
Q

What is the example PID by Peterka 2002

A
  • Used numerous sensory perturbations
  • Determined weights for sensory input:
    – Vison = 10%
    – Vestibular = 20%
    – Proprioception = 70%
    Shows how a controller and plant can work together, no need to know in depth
25
Q

What is the example PID by Yeadon and Trewartha 2003?

A

handstand balance
* Fit experimental data to mechanical model
* Used repeat regressions with time offsets
* Determined feedback time delays of 160 ms to 240 ms in handstand

26
Q

Name some PD/PID issues:

A
  • Simulation output is too good
  • Relies on excessive noise to reproduce typical postural sway
    Assumes everything in human sway is error or noise
  • Struggles with large delays near 200ms, even more with 2/3 segments
  • Can used intermittent control models
    Where controller turns on and off to control force
27
Q

Revisit the control model PID

A

slide 28 w3