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Whole Body Coordination for Self-Assistance in Locomotion

Seyfarth, André ; Zhao, Guoping ; Jörntell, Henrik (2022)
Whole Body Coordination for Self-Assistance in Locomotion.
In: Frontiers in Neurorobotics, 2022, 16
doi: 10.26083/tuprints-00021497
Article, Secondary publication, Publisher's Version

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Item Type: Article
Type of entry: Secondary publication
Title: Whole Body Coordination for Self-Assistance in Locomotion
Language: English
Date: 9 June 2022
Place of Publication: Darmstadt
Year of primary publication: 2022
Publisher: Frontiers
Journal or Publication Title: Frontiers in Neurorobotics
Volume of the journal: 16
Collation: 8 Seiten
DOI: 10.26083/tuprints-00021497
Corresponding Links:
Origin: Secondary publication via sponsored Golden Open Access
Abstract:

The dynamics of the human body can be described by the accelerations and masses of the different body parts (e.g., legs, arm, trunk). These body parts can exhibit specific coordination patterns with each other. In human walking, we found that the swing leg cooperates with the upper body and the stance leg in different ways (e.g., in-phase and out-of-phase in vertical and horizontal directions, respectively). Such patterns of self-assistance found in human locomotion could be of advantage in robotics design, in the design of any assistive device for patients with movement impairments. It can also shed light on several unexplained infrastructural features of the CNS motor control. Self-assistance means that distributed parts of the body contribute to an overlay of functions that are required to solve the underlying motor task. To draw advantage of self-assisting effects, precise and balanced spatiotemporal patterns of muscle activation are necessary. We show that the necessary neural connectivity infrastructure to achieve such muscle control exists in abundance in the spinocerebellar circuitry. We discuss how these connectivity patterns of the spinal interneurons appear to be present already perinatally but also likely are learned. We also discuss the importance of these insights into whole body locomotion for the successful design of future assistive devices and the sense of control that they could ideally confer to the user.

Status: Publisher's Version
URN: urn:nbn:de:tuda-tuprints-214973
Additional Information:

This article is part of the Research Topic Biomimetic Control Architectures for Robots (s. verwandtes Werk)

Keywords: biomechanics, neural control, walking, swing leg, trunk, stance, body mechanics, human gait

Classification DDC: 600 Technology, medicine, applied sciences > 610 Medicine and health
700 Arts and recreation > 796 Sports
Divisions: 03 Department of Human Sciences > Institut für Sportwissenschaft > Sportbiomechanik
Date Deposited: 09 Jun 2022 12:19
Last Modified: 14 Nov 2023 19:04
URI: https://tuprints.ulb.tu-darmstadt.de/id/eprint/21497
PPN: 495546593
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