TY - JOUR
T1 - Sensory regulation of stance-to-swing transition in generation of adaptive human walking
T2 - A simulation study
AU - Aoi, Shinya
AU - Ogihara, Naomichi
AU - Funato, Tetsuro
AU - Tsuchiya, Kazuo
N1 - Funding Information:
This paper was supported in part by a Grant-in-Aid for Scientific Research on Priority Areas “Emergence of Adaptive Motor Function through Interaction between Body, Brain and Environment” (No. 17075008 ) and a Grant-in-Aid for Creative Scientific Research (No. 19GS0208 ) from the Japanese Ministry of Education, Culture, Sports, Science and Technology .
PY - 2012/5
Y1 - 2012/5
N2 - In this paper, we investigated sensory mechanisms to regulate the transition from the stance to swing phases in the generation of adaptive human bipedal walking based on a neuromusculoskeletal model. We examined the contributions of the sensory information from the force-sensitive afferents in the ankle extensor muscle and from the position-sensitive afferents from the hip, inspired by a neuro-mechanical simulation for the stepping of the hind legs of cats. Our simulation results showed that the sensory signals related to the force in the ankle extensor muscle make a larger contribution than sensory signals related to the joint angle at the hip to produce robust walking against disturbances, as observed in the simulation results of cat locomotion. This suggests that such a sensorimotor mechanism is a general property and is also embedded in the neuro-control system of human bipedal walking.
AB - In this paper, we investigated sensory mechanisms to regulate the transition from the stance to swing phases in the generation of adaptive human bipedal walking based on a neuromusculoskeletal model. We examined the contributions of the sensory information from the force-sensitive afferents in the ankle extensor muscle and from the position-sensitive afferents from the hip, inspired by a neuro-mechanical simulation for the stepping of the hind legs of cats. Our simulation results showed that the sensory signals related to the force in the ankle extensor muscle make a larger contribution than sensory signals related to the joint angle at the hip to produce robust walking against disturbances, as observed in the simulation results of cat locomotion. This suggests that such a sensorimotor mechanism is a general property and is also embedded in the neuro-control system of human bipedal walking.
KW - Central pattern generator
KW - Human bipedal walking
KW - Muscle synergy
KW - Neuromusculoskeletal model
KW - Phase resetting
KW - Stance-to-swing transition
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U2 - 10.1016/j.robot.2011.12.005
DO - 10.1016/j.robot.2011.12.005
M3 - Article
AN - SCOPUS:84858449687
SN - 0921-8890
VL - 60
SP - 685
EP - 691
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
IS - 5
ER -