Robust control of CPG-based 3D neuromusculoskeletal walking model

Kim, Youngwoo; Tagawa, Y.; Obinata, Goro; Hase, Kazunori

doi:10.1007/s00422-011-0464-4

Cited by 34 publications

(30 citation statements)

References 30 publications

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“…Some examples of these include the λ-model [44], the central pattern generator [29], [35], [47], and Lie group symmetry [42]. These approaches can generate adaptive motion for unpredictable environments without effecting the system stability.…”

Section: B Motor Control In Biological Systemsmentioning

confidence: 99%

Motion Adaptation With Motor Invariant Theory

Liu

Southern

Guo

et al. 2013

IEEE Trans. Cybern.

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Bipedal walking is not fully understood. Motion generated from methods employed in robotics literature is stiff and is not nearly as energy efficient as what we observe in nature. In this paper, we propose validity conditions for motion adaptation from biological principles in terms of the topology of the dynamic system. This allows us to provide a closed-form solution to the problem of motion adaptation to environmental perturbations. We define both global and local controllers that improve structural and state stability, respectively. Global control is achieved by coupling the dynamic system with a neural oscillator, which preserves the periodic structure of the motion primitive and ensures stability by entrainment. A group action derived from Lie group symmetry is introduced as a local control that transforms the underlying state space while preserving certain motor invariants. We verify our method by evaluating the stability and energy consumption of a synthetic passive dynamic walker and compare this with motion data of a real walker. We also demonstrate that our method can be applied to a variety of systems.

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Section: B Motor Control In Biological Systemsmentioning

confidence: 99%

Motion Adaptation With Motor Invariant Theory

Liu

Southern

Guo

et al. 2013

IEEE Trans. Cybern.

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“…Specifically for human locomotion, several walking experiments have been conducted that report on the immediate responses of the human spinal control to different types of unexpected disturbances including electrical stimulation (Simonsen and Dyhre-Poulsen, 1999; Courtine et al, 2007), mechanical perturbation at individual leg joints (Dietz et al, 1990; Sinkjaer et al, 1996; Faist et al, 1999), and more natural mechanical perturbation of the whole body (Schillings et al, 1999; Sloot et al, 2015). Although external disturbances have been used in neuromechanical human walking models to either test the robustness of control models (Aoi et al, 2010; Kim et al, 2011; Song and Geyer, 2015a) or to study specific high-level recovery strategies (Jo, 2007; Murai and Yamane, 2011), comparisons of the reference data on the reactions of the human spinal control to the reactions predicted by the different walking models have so far not been performed.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of a Neuromechanical Walking Control Model Using Disturbance Experiments

Song

Geyer

2017

Front. Comput. Neurosci.

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Neuromechanical simulations have been used to study the spinal control of human locomotion which involves complex mechanical dynamics. So far, most neuromechanical simulation studies have focused on demonstrating the capability of a proposed control model in generating normal walking. As many of these models with competing control hypotheses can generate human-like normal walking behaviors, a more in-depth evaluation is required. Here, we conduct the more in-depth evaluation on a spinal-reflex-based control model using five representative gait disturbances, ranging from electrical stimulation to mechanical perturbation at individual leg joints and at the whole body. The immediate changes in muscle activations of the model are compared to those of humans across different gait phases and disturbance magnitudes. Remarkably similar response trends for the majority of investigated muscles and experimental conditions reinforce the plausibility of the reflex circuits of the model. However, the model's responses lack in amplitude for two experiments with whole body disturbances suggesting that in these cases the proposed reflex circuits need to be amplified by additional control structures such as location-specific cutaneous reflexes. A model that captures these selective amplifications would be able to explain both steady and reactive spinal control of human locomotion. Neuromechanical simulations that investigate hypothesized control models are complementary to gait experiments in better understanding the control of human locomotion.

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“…As a result, many researchers resort to forward dynamic simulations of the human neuromuscular system to propose and test different controller architectures [1]- [6]. These studies have demonstrated that different architectures can generate walking or running behaviors with more or less humanlike kinematics, kinetics and muscle activation patterns.…”

Section: Introductionmentioning

confidence: 99%

“…These studies have demonstrated that different architectures can generate walking or running behaviors with more or less humanlike kinematics, kinetics and muscle activation patterns. Examples include models proposed based on the observation of central pattern generators (CPG) in neurophysiological studies [1]- [3], [6], [7]; on the equilibrium point hypothesis [4], [8]; and on muscle reflexes [5], [9]. However, among all the different models, only a few based on CPG control have been generalized to three-dimensional locomotion [3], which limits the ability to study and compare alternative neural controllers of 3D-related motions (including for instance body yaw and roll, and turning).…”

Section: Introductionmentioning

confidence: 99%

Generalization of a muscle-reflex control model to 3D walking

Song

Geyer

2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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The neural controller that generates human locomotion can currently not be measured directly, and researchers often resort to forward dynamic simulations of the human neuromuscular system to propose and test different controller architectures. However, most of these models are restricted to locomotion in the sagittal plane, which limits the ability to study and compare proposed neural controls for 3D-related motions. Here we generalize a previously identified reflex control model for sagittal plane walking to 3D locomotion. The generalization includes additional degrees of freedom at the hips in the lateral plane, their actuation and control by hip abductor and adductor muscles, and 3D compliant ground contact dynamics. The resulting 3D model of human locomotion generates normal walking while producing human-like ground reaction forces and moments, indicating that the proposed neural controller based on muscle reflexes generalizes well to 3D locomotion.

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Robust control of CPG-based 3D neuromusculoskeletal walking model

Cited by 34 publications

References 30 publications

Motion Adaptation With Motor Invariant Theory

Motion Adaptation With Motor Invariant Theory

Evaluation of a Neuromechanical Walking Control Model Using Disturbance Experiments

Generalization of a muscle-reflex control model to 3D walking

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