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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. (Publisher's Version)
In: Royal Society Open Science, 6 (3), RSC Publishing, ISSN 2054-5703,
DOI: 10.26083/tuprints-00013228,
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Item Type: Article
Origin: Secondary publication
Status: Publisher's Version
Title: From template to anchors: transfer of virtual pendulum posture control balance template to adaptive neuromuscular gait model increases walking stability
Language: English
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.

Journal or Publication Title: Royal Society Open Science
Journal volume: 6
Issue Number: 3
Publisher: RSC Publishing
Collation: 17 Seiten
Classification DDC: 600 Technik, Medizin, angewandte Wissenschaften > 600 Technik
700 Künste und Unterhaltung > 796 Sport
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft
Date Deposited: 28 Mar 2022 12:18
Last Modified: 28 Mar 2022 12:18
DOI: 10.26083/tuprints-00013228
Corresponding Links:
URN: urn:nbn:de:tuda-tuprints-132286
Additional Information:

Supplements:

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

URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/13228
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