A model of task-level human stepping regulation yields semistable walking.
J R Soc Interface
; 21(219): 20240151, 2024 Oct.
Article
em En
| MEDLINE
| ID: mdl-39379002
ABSTRACT
A simple lateral dynamic walker, with swing leg dynamics and three adjustable input parameters, is used to study how motor regulation affects frontal-plane stepping. Motivated by experimental observations and phenomenological models, we imposed task-level multi-objective regulation targeting the walker's optimal lateral foot placement at each step. The regulator prioritizes achieving step width and lateral body position goals to varying degrees by choosing a mixture parameter. Our model thus integrates a lateral mechanical template, which captures the fundamental mechanics of frontal-plane walking, with a lateral motor regulation template, an empirically verified model of how humans manipulate lateral foot placements in a goal-directed manner. The model captures experimentally observed stepping fluctuation statistics and demonstrates how linear empirical models of stepping dynamics can emerge from first-principles nonlinear mechanics. We find that task-level regulation gives rise to a goal-equivalent manifold in the system's extended state space of mechanical states and inputs, a subset of which contains a continuum of period-1 gaits forming a semistable set perturbations off of any of its gaits result in transients that return to the set, though typically to different gaits.
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Texto completo:
1
Coleções:
01-internacional
Base de dados:
MEDLINE
Assunto principal:
Caminhada
/
Modelos Biológicos
Limite:
Humans
Idioma:
En
Revista:
J R Soc Interface
/
J. R. Soc. interface (Online)
/
Journal of the Royal Society interface (Online)
Ano de publicação:
2024
Tipo de documento:
Article
País de afiliação:
Estados Unidos
País de publicação:
Reino Unido