Sensory regulation of stance-to-swing transition in generation of adaptive human walking: A simulation study

Shinya Aoi, Naomichi Ogihara, Tetsuro Funato, Kazuo Tsuchiya

Research output: Contribution to journalArticle

9 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)685-691
Number of pages7
JournalRobotics and Autonomous Systems
Issue number5
Publication statusPublished - 2012 May 1



  • Central pattern generator
  • Human bipedal walking
  • Muscle synergy
  • Neuromusculoskeletal model
  • Phase resetting
  • Stance-to-swing transition

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

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