An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

ABSTRACT: Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the jo

SUBMITTER: Fu C 

PROVIDER: S-EPMC4223921 | biostudies-literature | 2014 Dec

REPOSITORIES: biostudies-literature