Quantitative analysis of the ankle strategy under translational platform disturbance.

The ankle strategy is one of the postural adjustment maneuvers humans utilize when the support platform is disturbed. This paper presents a quantitative analysis of the ankle strategy. A three-link sagittal biped model is considered. The first link represents the two legs locked together. The second link represents the two thighs locked together. The third link represents the hip, the torso, the upper limbs, the neck, and the head. The dynamics, control, and stability of the three-link biped, under platform translation, are considered. The disturbance of the platform is represented as an input and the effect of the muscular system is reduced to a set of torques applied to the joints and across the joints. Two digital computer simulations are presented to demonstrate the behavior of the biped under backward or forward platform disturbance. The simulations are compared with experimental measurements of humans subjected to postural disturbances. It is shown that the effect of a horizontal disturbance at the ankle appears to be about 40 times that of the effect of the disturbance at the knees and at least a few hundred times larger than the effect of a disturbance at the hip. This means that, under translational platform disturbance, the ankle angle is subjected to the largest excursion. The knee and the hip angle excursions are relatively minor. Consequently, the biped, as a whole, appears to move as a single inverted pendulum. Major postural corrections are initiated by the ankle excursion. Further, when the available ankle torque is limited or nonexistent, the stability requires resorting to the knee or hip strategies.