This paper proposes a theoretical model of the control and perception mechanism in human balance. Human balance perception is evaluated by the subjective upright posture, the posture at which a person does not feel he/she is at an incline. Our balance experiments in the seated posture showed that the subjective upright posture changed after the balancing task where the participants needed to incline to maintain their balance. This paper aimed to explain this adaptive phenomenon by reproducing the experimental results using computer simulations. Hypothesizing that “humans gradually come to recognize the posture they need to take to maintain their balance as being upright,” an adaptation rule for subjective upright posture is defined, so that it approaches the averaged posture in the period of the balancing task. For the balance control, center of pressure feedback is adopted. As a result, the similar changes in subjective upright posture are simulated with a two-link model with a base link, implying that our hypothesis is one possible explanation on the mechanism for human balance control and perception.

本文提出了人体平衡的控制和感知机制的理论模型。人体平衡感知是通过主观直立姿势来评估的，即一个人不觉得他/她处于倾斜状态的姿势。我们在坐姿中的平衡实验表明，在平衡任务之后，参与者需要倾斜以保持平衡，主观直立姿势发生了变化。本文旨在通过使用计算机模拟再现实验结果来解释这种适应性现象。假设“人类逐渐认识到他们需要采取的保持平衡的姿势是直立的”，定义了主观直立姿势的适应规则，使其接近平衡任务期间的平均姿势。对于平衡控制，采用压力反馈中心。因此，主观直立姿势的类似变化是用带有基础链接的双链接模型模拟的，这意味着我们的假设是对人类平衡控制和感知机制的一种可能解释。