https://m2.mtmt.hu/ hun 2026-05-01 00:02 JournalArticle 36217357 VALIDATED true Funding Agency and Grant Number: National Natural Science Foundation of China Funding text: We sincerely appreciate the discussions with Prof. Huailei Wang (Nanjing University of Aeronautics and Astronautics) and the colleagues who provided valuable suggestions for this study. 0 false 2026-04-27T07:44:51.117+0000 2025-12-19T22:28:15.071+0000 2025-06-30T10:10:45.879+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true 2025-12-31T08:53:04.391+0000 2025-06-30T10:39:13.024+0000 true 10072271 Andódy Katalin /api/admin/10072271 Admin true 2025-12-19T22:28:15.061+0000 true 521 Szuper Admin /api/admin/521 Admin true true false true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle true 10000059 Article true 24 24 /api/publicationtype/24 PublicationType 1 true 24 JournalArticle /api/subtype/10000059 Szakcikk SubType 101 true 10000059 true 1 /api/category/1 Category true 1 Chen, Jingtian Adjoint sensitivity method for parameter estimation: applications to inverted pendulum and human standing balance true true /api/journal/10003345 REVIEWED true false 10003345 false 10003345 true 1742-5689 1742-5662 Journal FOREIGN 22 227 20240843 20240843 18 2025 The inverted pendulum, a classical mechanical system, often serves as a platform for studying stability and control algorithms. Modelling human standing balance as an inverted pendulum controlled by the time-delayed proportional-derivative (PD) feedback controller can be used effectively to study the related biomechanical mechanisms. In this study, to investigate the human balance control strategy, an adjoint sensitivity analysis method and a corresponding optimizer are implemented to directly determine system parameters, control gains and the time delay in the human balancing model. This study validates the accuracy of the optimizer through numerical simulations and experimental verification based on the physical model of the inverted pendulum on a cart. The experimental results confirm the performance of the identification algorithm for systems involving non-smooth dynamics and inherent time delays. Moreover, the identification based on human balance data indicates that the time-delayed PD feedback controller effectively represents the human balance control strategy. Additionally, the identification reveals a tendency in the control strategy: the control gains are located in the lower-left region of the stability diagram, indicating that the human body tends to adopt an optimal control strategy that minimizes energy consumption. true 2025 true true true false true false NONE 2026-04-27 false 1 0 1 0 1 1 1 1 1 1 1 0 0 0 1 0 1 0 1 0 0 7 7 Folyóiratcikk Journal Article 24 1 Könyvrészlet Chapter in Book 25 0 Könyv Book 23 0 Egyéb konferenciaközlemény Conference paper 31 0 Egyéb konferenciakötet Conference proceedings 32 0 Oltalmi formák Protection forms 26 0 Disszertáció Thesis 28 0 Egyéb Miscellaneous 29 0 Alkotás Achievement 22 0 Kutatási adat Research data 33 0 Folyóiratcikk Journal Article 24 0 0 0 Könyvrészlet Chapter in Book 25 0 0 0 Könyv Book 23 0 0 0 Egyéb konferenciaközlemény Conference paper 31 0 0 0 Egyéb konferenciakötet Conference proceedings 32 0 0 0 Oltalmi formák Protection forms 26 0 0 0 Disszertáció Thesis 28 0 0 0 Egyéb Miscellaneous 29 0 0 0 Alkotás Achievement 22 0 0 0 Kutatási adat Research data 33 0 0 0 2025 0 1 0 1 0 Q1 B nemzetközi false 10001536 false false false 2025-06-29T10:39:12.909+0000 HUN-REN-BME Gépek Dinamikája Kutatócsoport (BME / GPK / MM); Műszaki Mechanikai Tanszék (BME / GPK) 2 12 2 5 0 true Language 10002 /api/language/10002 Angol English true 2 true PersonAuthorship 127058202 /api/authorship/127058202 1 0.2 true false false Chen Jingtian true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 127058203 /api/authorship/127058203 2 0.2 false false false Lu Shaoyi true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 127058204 /api/authorship/127058204 3 0.2 false false true Zhang Li true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 127058205 /api/authorship/127058205 4 0.2 false false false Author 10001536 /api/author/10001536 Insperger Tamás true 10001536 true Insperger Tamas true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PersonAuthorship 127058206 /api/authorship/127058206 5 0.2 false true false Author 10000019 /api/author/10000019 Stépán Gábor true 10000019 true Stepan Gabor true false false AuthorshipType 1 /api/authorshiptype/1 0 true 0 true false true PublicationIdentifier 29540690 /api/publicationidentifier/29540690 PlainSource 6 /api/publicationsource/6 PublicationSourceType 10001 /api/publicationsourcetype/10001 true true true DOI DOI https://doi.org/@@@ true true 6 true IDENTICAL 10.1098/rsif.2024.0843 https://doi.org/10.1098/rsif.2024.0843 false true PublicationIdentifier 29540691 /api/publicationidentifier/29540691 PlainSource 1 /api/publicationsource/1 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true WoS WoS https://www.webofscience.com/wos/woscc/full-record/@@@ true true 1 true IDENTICAL 001510261700001 https://www.webofscience.com/wos/woscc/full-record/001510261700001 false true PublicationIdentifier 29540716 /api/publicationidentifier/29540716 PlainSource 3 /api/publicationsource/3 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true Scopus Scopus http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-@@@ true true 3 true IDENTICAL 105008732930 http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-105008732930 false true PublicationIdentifier 29540692 /api/publicationidentifier/29540692 PlainSource 17 /api/publicationsource/17 PublicationSourceType 10003 /api/publicationsourcetype/10003 false true true PubMed PubMed http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?cmd=Retrieve&db=PubMed&list_uids=@@@&dopt=Abstract true true 17 true IDENTICAL 40528451 http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?cmd=Retrieve&db=PubMed&list_uids=40528451&dopt=Abstract false true PublicationIdentifier 29701857 /api/publicationidentifier/29701857 PlainSource 40 /api/publicationsource/40 PublicationSourceType 10006 /api/publicationsourcetype/10006 true true true Egyéb URL Other URL @@@ true true 40 true IDENTICAL https://royalsocietypublishing.org/doi/10.1098/rsif.2024.0843 https://royalsocietypublishing.org/doi/10.1098/rsif.2024.0843 false true Classification 10807 /api/classification/10807 true true Keyword 570 /api/keyword/570 true 570 true Keyword 896 /api/keyword/896 true 896 true Keyword 1279 /api/keyword/1279 true 1279 true Keyword 3798 /api/keyword/3798 true 3798 true Keyword 1004105 /api/keyword/1004105 true 1004105 true Keyword 1033547 /api/keyword/1033547 true 1033547 true Keyword 1674771 /api/keyword/1674771 true true Keyword 1763998 /api/keyword/1763998 true true Keyword 1888325 /api/keyword/1888325 true true Keyword 2514361 /api/keyword/2514361 true true Keyword 3396843 /api/keyword/3396843 true true MtaRating 11551128 /api/mtarating/11551128 RatingType 10010 /api/ratingtype/10010 RegTB Institute 14100 /api/institute/14100 0 false true false Regionális Tudományok Bizottsága Committee on Regional Studies true 14100 true true true B nemzetközi false true SjrRating 11561439 /api/sjrrating/11561439 29 0.24 journal RatingType 10002 /api/ratingtype/10002 sjr true true ClassificationExternal 1304 /api/classificationexternal/1304 true 1304 true Q1 DIRECT true true /api/publication/36217357 <div class="JournalArticle Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <img title="Idézőközlemény" style="float: left" src="/frontend/resources/grid/publication-citation-icon.png"> <div class="autype autype0"> <span class="author-name" >Chen Jingtian </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Lu Shaoyi </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" >Zhang Li ✉ </span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10001536"><a href="/gui2/?type=authors&mode=browse&sel=10001536" target="_blank">Insperger Tamas (<span class="authorship-author-name">Insperger Tamás</span> <span class="authorAux-mtmt"> műszaki mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/HUN-REN-BME Gépek Dinamikája Kutatócsoport</span> ;&nbsp;&nbsp;&nbsp; <span class="author-name" mtid="10000019"><a href="/gui2/?type=authors&mode=browse&sel=10000019" target="_blank">Stepan Gabor (<span class="authorship-author-name">Stépán Gábor</span> <span class="authorAux-mtmt"> mechanika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/Műszaki Mechanikai Tanszék; <span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Gépészmérnöki Kar">GPK</span>/<span title="Műszaki Mechanikai Tanszék">MM</span>/HUN-REN-BME Gépek Dinamikája Kutatócsoport</span> </div> </div> <div class="title"><a href="/gui2/?mode=browse&params=publication;36217357" target="_blank">Adjoint sensitivity method for parameter estimation: applications to inverted pendulum and human standing balance</a></div> <div> <span class="journal-title">JOURNAL OF THE ROYAL SOCIETY INTERFACE</span> <span class="journal-issn">(<a target="_blank" href="https://portal.issn.org/resource/ISSN/1742-5689">1742-5689</a> <a target="_blank" href="https://portal.issn.org/resource/ISSN/1742-5662">1742-5662</a>)</span>: <span class="journal-volume">22</span> <span class="journal-issue">227</span> <span class="page"> Paper 20240843. 18 p. </span> <span class="year">(2025)</span> </div> <div class="pub-footer"> <span class="language" xmlns="http://www.w3.org/1999/html">Nyelv: Angol | </span> <span class="identifiers"> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="10.1098/rsif.2024.0843" target="_blank" href="https://doi.org/10.1098/rsif.2024.0843"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="001510261700001" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/001510261700001"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="105008732930" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-105008732930"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="40528451" target="_blank" href="http://www.ncbi.nlm.nih.gov/entrez/query.fcgi?cmd=Retrieve&db=PubMed&list_uids=40528451&dopt=Abstract"> PubMed </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:blue" title="https://royalsocietypublishing.org/doi/10.1098/rsif.2024.0843" target="_blank" href="https://royalsocietypublishing.org/doi/10.1098/rsif.2024.0843"> Egyéb URL </a> </span> </span> <OnlyViewableByAuthor><div class="ratings"> <div class="journal-subject">Folyóirat szakterülete: Scopus - Biophysics&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q1</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Biochemistry&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Bioengineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Biomaterials&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Biomedical Engineering&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Folyóirat szakterülete: Scopus - Biotechnology&nbsp;&nbsp;&nbsp;SJR indikátor:&nbsp;Q2</div> <div class="journal-subject">Regionális Tudományok Bizottsága IXGJO RTB [1901-]&nbsp;&nbsp;&nbsp;B nemzetközi</div> </div></OnlyViewableByAuthor> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 1</span> | Független: 0 | Függő: 1 | Nem jelölt: 0 | WoS jelölt: 1 | Scopus jelölt:&nbsp;1 | WoS/Scopus jelölt:&nbsp;1 | DOI jelölt:&nbsp;1 </div> <div class="publication-citation"> <a target="_blank" href="/api/publication?cond=citations.related;eq;36217357&sort=publishedYear,desc&sort=title"> Idézett közlemények száma: 7 </a> </div> <div class="mtid"><span class="long-pub-mtid">Közlemény: 36217357</span> | <span class="status-data status-VALIDATED"> Egyeztetett </span> Forrás Idéző | <span class="type-subtype">Folyóiratcikk ( Szakcikk ) </span> | <span class="pub-category">Tudományos</span> | <span class="publication-sourceOfData">WOS TAGGED</span> </div> <div class="lastModified">Utolsó módosítás: 2025.12.19. 23:28 Szuper Admin (admin) </div> <pre class="comment" style="margin-top: 0; margin-bottom: 0;"><u>Megjegyzés</u>: Funding Agency and Grant Number: National Natural Science Foundation of China Funding text: We sincerely appreciate the discussions with Prof. Huailei Wang (Nanjing University of Aeronautics and Astronautics) and the colleagues who provided valuable suggestions for this study.</pre> </div></div>