The paper presents a model of cerebellum with long-loop force feedback and gains scheduling so as to demonstrate the control of human upright balance.The model consists mostly of two parts

i.e.cerebrum and cerebellum.The cerebellar component of the controller is represented by two sets of gains that provide linear scaling of same-joint and interjoint long-loop stretch responses between ankle

knee and kip.Whereas the cerebral component of the model composes a single set of same-joint liner force feedback gains.The paper

however

proposes that the cerebellum switches control gain sets as a function of sensing human body kinematics state.By means of simulation

the model illustrates that stabilized hybrid long-loop feedback with scheduling of linear gains may afford realistic balance control in the absence of explicit internal dynamics models and suggests that the cerebellum and cerebral cortex may contribute to the balance control via such mechanism.