Despite human balance maintenance in quiet conditions could seem a trivial motor task, it is not. Recently, the human stance was described through a double link inverted pendulum (DIP) actively controlled at the ankle with an intermittent proportional (P) and derivative (D) control actions based on the sway of a virtual inverted pendulum (VIP) that links the ankle joint with the DIP center of mass. Such description, encompassing both the mechanical model and the intermittent control policy, was referred as the DIP/VIP human stance model, and it showed physiologically plausible kinematic patterns. In this study a mathematical formalization of the Center of pressure (COP) for a DIP structure was developed. Then, it was used in conjunction with an intermittently controlled DIP/VIP model to assess its kinetic plausibility. Three descriptors commonly employed in posturography were selected among six based on their capability to discriminate between young (Y) and elderly (O) adults groups. Then, they were applied to assess whether variations of the P–D parameters affect the synthetic COP. The results showed that DIP/VIP model can reproduce COP trajectories, showing characteristics similar to the Y and O groups. Moreover, it was observed that both P and D parameters increased passing from Y to O, indicating that the COP obtained from the DIP/VIP model is able to highlight differences in balance control between groups. The study hence promote the use of DIP/VIP in posturography, where inferential techniques can be applied to characterize neural control.

尽管在安静条件下维持人体平衡似乎是一项微不足道的运动任务，但事实并非如此。最近，通过在脚踝处主动控制的双连杆倒立摆 (DIP) 描述了人类的姿势，并基于连接脚踝的虚拟倒立摆 (VIP) 的摆动进行间歇性的比例 (P) 和微分 (D) 控制动作。踝关节与 DIP 质心。这种包含机械模型和间歇控制策略的描述被称为 DIP/VIP 人体姿态模型，它显示出生理上合理的运动学模式。在这项研究中，开发了 DIP 结构压力中心 (COP) 的数学形式化。然后，将其与间歇控制的 DIP/VIP 模型结合使用，以评估其动力学合理性。根据它们区分年轻 (Y) 和年长 (O) 成人组的能力，从六个中选择了三个常用于姿势描记术的描述符。然后，它们被用于评估 P-D 参数的变化是否影响合成 COP。结果表明，DIP/VIP 模型可以再现 COP 轨迹，表现出与 Y 和 O 组相似的特征。此外，观察到 P 和 D 参数从 Y 传递到 O 增加，表明从 DIP/VIP 模型获得的 COP 能够突出组之间平衡控制的差异。因此，该研究促进了 DIP/VIP 在姿势学中的使用，其中推理技术可用于表征神经控制。