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Understanding the mechanism of human balancing is a scientifically challenging task. In order to describe the nature of the underlying control mechanism, first of all, the balancing force has to be discovered. However the kinematics of the motion can be measured directly using a motion capturing system, the calculation of the control forces is more problematic. It seems straightforward to calculate the control forces using an inverse dynamic calculation based on the accelerations. Usingdoi:10.1142/s0219455419410104 fatcat:bvxdy26gqrclhasfn7srxisiue