Closed-loop control of a human Center-Of-Pressure position based on somatosensory feedback

Supplementary visual, audio and tactile inputs have been shown to enhance postural control. In particular the light touch on a stable surface has been proven to significantly increase postural stability. Furthermore, it has been reported that the Center of Pressure (CoP) can be sinusoidally driven thanks to somatosensory inputs. In this paper, these results are extended to improve balance control. A closed loop control of the CoP position based on somatosensory feedback is developed. This control strategy allows both setpoint tracking and path following of the CoP. The effectiveness of the proposed somatosensory feedback is assessed through experiments involving 11 naive subjects.