Poster Abstract: Reachability and Controlled Invariance for Human Stability during Sit-to-Stand

Abstract

Stable human movement is often defined as movement that does not lead to falling. The set of such movements is too broad to be encompassed by traditional notions of stability in control theory, such as stability about equilibria or trajectories. We propose framing the region of stable human movement, which we call the stabilizable region, as the backward reachable set of a controlled invariant set. We focus on sit-to-stand, which requires a high level of coordination and is a common setting for falls. Using tools from the hybrid systems community, we compute the stabilizable region for sit-to-stand under varying environmental and physiological conditions. We validate our results with a dataset of humans performing perturbed sit-to-stand.