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From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability

Davoodi, Ayoob ; Mohseni, Omid ; Seyfarth, Andre ; Sharbafi, Maziar A. (2022)
From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability.
In: Royal Society Open Science, 2019, 6 (3)
doi: 10.26083/tuprints-00013228
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability
Language: English
Date: 2022
Place of Publication: Darmstadt
Year of primary publication: 2019
Publisher: RSC Publishing
Journal or Publication Title: Royal Society Open Science
Volume of the journal: 6
Issue Number: 3
Collation: 17 Seiten
DOI: 10.26083/tuprints-00013228
Corresponding Links:
Origin: Secondary publication
Abstract:

Biomechanical models with different levels of complexity are of advantage to understand the underlying principles of legged locomotion. Following a minimalistic approach of gradually increasing model complexity based on Template & Anchor concept, in this paper, a spring-loaded inverted pendulumbased walking model is extended by a rigid trunk, hip muscles and reflex control, called nmF (neuromuscular force modulated compliant hip) model. Our control strategy includes leg force feedback to activate hip muscles (originated from the FMCH approach), and a discrete linear quadratic regulator for adapting muscle reflexes. The nmF model demonstrates human-like walking kinematic and dynamic features such as the virtual pendulum (VP) concept, inherited from the FMCH model. Moreover, the robustness against postural perturbations is two times higher in the nmF model compared to the FMCH model and even further increased in the adaptive nmF model. This is due to the intrinsic muscle dynamics and the tuning of the reflex gains. With this, we demonstrate, for the first time, the evolution of mechanical template models (e.g. VP concept) to a more physiological level (nmF model). This shows that the template model can be successfully used to design and control robust locomotor systems with more realistic system behaviours.

Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-132286
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Supplements:

https://royalsocietypublishing.org/doi/suppl/10.1098/rsos.181911

Classification DDC: 600 Technology, medicine, applied sciences > 600 Technology
700 Arts and recreation > 796 Sports
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 28 Mar 2022 12:18
Last Modified: 02 Mar 2023 07:28
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/13228
PPN: 505383047
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