Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model

Naomichi Ogihara, Nobutoshi Yamazaki

Research output: Contribution to journalArticle

122 Citations (Scopus)

Abstract

To emulate the actual neuro-control mechanism of human bipedal locomotion, an anatomically and physiologically based neuro-musculo-skeletal model is developed. The human musculo-skeletal system is constructed as seven rigid links in a sagittal plane, with a total of nine principal muscles. The nervous system consists of an alpha motoneuron and proprioceptors such as a muscle spindle and a Golgi tendon organ for each muscle. At the motoneurons, feedback signals from the proprioceptors are integrated with the signal induced by foot-ground contact and input from the rhythm pattern generator; a muscle activation signal is produced accordingly. Weights of connection in the neural network are optimized using a genetic algorithm, thus maximizing walking distance and minimizing energy consumption. The generated walking pattern is in remarkably good agreement with that of actual human walking, indicating that the locomotory pattern could be generated automatically, according to the musculoskeletal structures and the connections of the peripheral nervous system, particularly due to the reciprocal innervation in the muscle spindles. Using the proposed model, the flow of sensory-motor information during locomotion is estimated and a possible neuro-control mechanism is discussed.

Original languageEnglish
Pages (from-to)1-11
Number of pages11
JournalBiological Cybernetics
Volume84
Issue number1
Publication statusPublished - 2001

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Locomotion
Walking
Muscle
Muscle Spindles
Motor Neurons
Muscles
Neurology
Mechanoreceptors
Peripheral Nervous System
Nervous System
Foot
Musculoskeletal system
Tendons
Weights and Measures
Energy utilization
Genetic algorithms
Chemical activation
Neural networks
Feedback

ASJC Scopus subject areas

  • Biophysics

Cite this

Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model. / Ogihara, Naomichi; Yamazaki, Nobutoshi.

In: Biological Cybernetics, Vol. 84, No. 1, 2001, p. 1-11.

Research output: Contribution to journalArticle

Ogihara, Naomichi ; Yamazaki, Nobutoshi. / Generation of human bipedal locomotion by a bio-mimetic neuro-musculo-skeletal model. In: Biological Cybernetics. 2001 ; Vol. 84, No. 1. pp. 1-11.
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