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Human and humanoid posture control models usually rely on single or multipledegrees of freedom inverted pendulum representation of upright stanceassociated with a feedback controller. In models typically focused on theaction between ankles, hips, and knees, the control of head position is oftenneglected, and the head is considered one with the upper body. However, two ofthe three main contributors to the human motion sensorium reside in the head:the vestibular and the visual system. As the third contributor, theproprioceptive system is distributed throughout the body. In humanneurodegenerative brain diseases of motor control, like ProgressiveSupranuclear Palsy PSP and Idiopathic Parkinson's Disease IPD, clinical studieshave demonstrated the importance of head motion deficits. This workspecifically addresses the control of the head during a perturbed uprightstance. A control model for the neck is proposed following the hypothesis of amodular posture control from previous studies. Data from human experiments areused to fit the model and retrieve sets of parameters representative of thebehavior obtained in different conditions. The result of the analysis istwofold: validate the model and its underlying hypothesis and provide a systemto assess the differences in posture control that can be used to identify thedifferences between healthy subjects and patients with different conditions.Implications for clinical pathology and application in humanoid and assistiverobotics are discussed.

A Dynamic Computational Model of Head Sway Responses in Human Upright Stance Postural Control during Support Surface Tilt