Song Seungmoon, Geyer Hartmut
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:7463-6. doi: 10.1109/EMBC.2013.6611284.
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.
目前，生成人类运动的神经控制器无法直接测量，研究人员常常借助人体神经肌肉系统的正向动力学模拟来提出并测试不同的控制器架构。然而，这些模型大多局限于矢状面内的运动，这限制了研究和比较针对三维相关运动所提出的神经控制方法的能力。在此，我们将先前确定的用于矢状面行走的反射控制模型推广至三维运动。这种推广包括在髋关节处增加了在冠状面内的自由度、通过髋外展肌和内收肌对其进行驱动和控制，以及三维顺应性地面接触动力学。由此产生的人类三维运动模型在产生类人地面反作用力和力矩的同时生成正常行走，这表明所提出的基于肌肉反射的神经控制器能够很好地推广至三维运动。
