Seyyed Arash Seyyed Arash - School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Fatemeh Haghpanah - School of Computer and Electrical Engineering Yazd University Yazd, Iran
Alireza Faghihi - School of Biomedical Engineering Islamic Azad University, Science and Research Branch Tehran, Iran

Human posture control is a complex issue in biomechanics. Human body is unstable without any controller. The stabilization of the body is achieved by the activation of the muscles and creating the joint torques. In this paper, human body in upright standing position has been modeled using an inverted double pendulum. Since the body parameters are different among the individuals, it is assumed that these parameters are not known exactly and are uncertain. An adaptive controller based on the inverse dynamics in addition to parameter adaptation law has been designed. The simulation of the system using this controller shows the effectiveness of the proposed method in controlling the human posture.

adaptive control; human body; stability; inverted double pendulum