A Human Walking Simulator with Reflexive Responses to Perturbation and Its Evaluation
نویسندگان
چکیده
Most walking assist systems reported are not ready for using in real-world environment; where there are frequent perturbations .Our ultimate goal is to realize artificial reflexes to real-world walking support systems. This goal needs both qualitative and quantitative understanding of human reflexive mechanism. In this study we built a human walking simulator consisting of a Central Pattern Generator (CPG) module, and a reflexive mechanism. As the reflexive mechanism, we used reflexive muscle responses together with a CPG-phase-modulation. Results showed that, the reflexive mechanism could improve the perturbation-resistance for the simulated walker. Also we suggest a quantitative evaluation of reflexive responses by using the rotational energy of lower limbs.
منابع مشابه
Fast biped walking with a reflexive controller and real-time policy searching
In this paper, we present our design and experiments of a planar biped robot (“RunBot”) under pure reflexive neuronal control. The goal of this study is to combine neuronal mechanisms with biomechanics to obtain very fast speed and the on-line learning of circuit parameters. Our controller is built with biologically inspired sensorand motor-neuron models, including local reflexes and not employ...
متن کاملEvaluation of the Phase-Dependent Rhythm Control of Human Walking Using Phase Response Curves
Humans and animals control their walking rhythms to maintain motion in a variable environment. The neural mechanism for controlling rhythm has been investigated in many studies using mechanical and electrical stimulation. However, quantitative evaluation of rhythm variation in response to perturbation at various timings has rarely been investigated. Such a characteristic of rhythm is described ...
متن کاملEvaluation of optimal step length in a seven-link model with margin of stability method
In a walking cycle design, maximizing the upright balance should be considered in addition to the kinematic constraints, energy consumption rate must be considered. The purpose of this study is to find the optimal step length obtained for each person according to the physical features. In this research, in order to minimize energy consumption rate by considering maximum balance two cost functio...
متن کاملFinite iterative methods for solving systems of linear matrix equations over reflexive and anti-reflexive matrices
A matrix $Pintextmd{C}^{ntimes n}$ is called a generalized reflection matrix if $P^{H}=P$ and $P^{2}=I$. An $ntimes n$ complex matrix $A$ is said to be a reflexive (anti-reflexive) matrix with respect to the generalized reflection matrix $P$ if $A=PAP$ ($A=-PAP$). In this paper, we introduce two iterative methods for solving the pair of matrix equations $AXB=C$ and $DXE=F$ over reflexiv...
متن کاملRESPONSES OF OXYGEN CONSUMPTION, HEART RATE AND PERCEIVED EXERTION TO CRUTCH WALKING: A COMPARISON BE TWEEN PAR APLEGIC AND ABLE-BODIED SUBJECTS
In this study, 10 normal volunteers and 5 sports-trained paraplegics with lesions between T6 and L2 were studied whilst walking with axillary crutches and knee-anlde-foot orthoses. All subjects walked at their preferred speed on a figureof- eight track. Normal subjects also walked at slower and faster speeds. Oxygen consumption, heart rate and rating of perceived exertion were measured. In...
متن کامل