A Simple State-Determined Model Reproduces Entrainment and Phase-Locking of Human Walking

PLoS ONE

Volumn 7, Issue 11, 2012, Pages

  Ahn, Jooeun ^a   Hogan, Neville ^a,b  

^a Massachusetts Institute of Technology Cambridge   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ARTICLE; BEHAVIORAL SCIENCE; BRAIN FUNCTION; CONCEPTUAL FRAMEWORK; FEEDBACK SYSTEM; FINITE BASIN ENTRAINMENT; GAIT; KINEMATICS; LOCOMOTION; MATHEMATICAL COMPUTING; MATHEMATICAL MODEL; MOTOR CONTROL; NERVE CELL NETWORK; OSCILLATORY POTENTIAL; PATTERN GENERATOR; PERIODICITY; PHASE LOCKING GAIT; REPRODUCIBILITY; SENSORY NERVE; SUPRASPINAL CONTROL; THEORETICAL MODEL;

ALGORITHMS; COMPUTER SIMULATION; GAIT; HUMANS; LOCOMOTION; MODELS, BIOLOGICAL; MODELS, THEORETICAL; WALKING;

EID: 84869015087     PISSN: None     EISSN: 19326203     Source Type: Journal    
DOI: 10.1371/journal.pone.0047963     Document Type: Article

References (45)

1. Ivanenko YP, Grasso R, Macellari V, Lacquaniti F, (2002) Control of Foot Trajectory in Human Locomotion: Role of Ground Contact Forces in Simulated Reduced Gravity. J Neurophysiol 87: 3070-3089.
2. Schulz BW, (2011) Minimum toe clearance adaptations to floor surface irregularity and gait speed. Journal of Biomechanics.
3. Grasso R, Ivanenko YP, Zago M, Molinari M, Scivoletto G, et al. (2004) Distributed plasticity of locomotor pattern generators in spinal cord injured patients. Brain 127: 1019-1034.
4. McGeer T, (1990) Passive dynamic walking. International Journal of Robotics Research 9: 62-82.
5. Collins SH, Wisse M, Ruina A, (2001) A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees. The International Journal of Robotics Research 20: 607-615.
6. Brown TG, (1911) The Intrinsic Factors in the Act of Progression in the Mammal. Proceedings of the Royal Society of London Series B, Containing Papers of a Biological Character 84: 308-319.
7. Kriellaars DJ, Brownstone RM, Noga BR, Jordan LM, (1994) Mechanical entrainment of fictive locomotion in the decerebrate cat. J Neurophysiol 71: 2074-2086.
8. Grillner S, Wallen P, (1985) Central Pattern Generators for Locomotion, with Special Reference to Vertebrates. Annual Review of Neuroscience 8: 233-261.
9. Stein PS, Victor JC, Field EC, Currie SN, (1995) Bilateral control of hindlimb scratching in the spinal turtle: contralateral spinal circuitry contributes to the normal ipsilateral motor pattern of fictive rostral scratching. J Neurosci 15: 4343-4355.
10. Cazalets JR, Borde M, Clarac F, (1996) The synaptic drive from the spinal locomotor network to motoneurons in the newborn rat. J Neurosci 16: 298-306.
11. Miyakoshi S, Taga G, Kuniyoshi Y, Nagakubo A, (1998) Three dimensional bipedal stepping motion using neural oscillators-towards humanoid motion in the real world. pp. 84-89 vol.81.
12. Aoi S, Tsuchiya K, (2007) Self-stability of a simple walking model driven by a rhythmic signal. Nonlinear Dynamics 48: 1-16.
13. Yang JF, Gorassini M, (2006) Spinal and Brain Control of Human Walking: Implications for Retraining of Walking. The Neuroscientist 12: 379-389.
14. Ivanenko YP, Dominici N, Cappellini G, Lacquaniti F, (2005) Kinematics in Newly Walking Toddlers Does Not Depend Upon Postural Stability. J Neurophysiol 94: 754-763.
15. Dimitrijevic MR, Gerasimenko Y, Pinter MM, (1998) Evidence for a Spinal Central Pattern Generator in Humans. Annals of the New York Academy of Sciences pp. 360-376.
16. Gurfinkel VS, Levik YS, Kazennikov OV, Selionov VA, (1998) Locomotor-like movements evoked by leg muscle vibration in humans. European Journal of Neuroscience 10: 1608-1612.
17. Gerasimenko Y, Gorodnichev R, Machueva E, Pivovarova E, Semyenov D, et al. (2010) Novel and Direct Access to the Human Locomotor Spinal Circuitry. J Neurosci 30: 3700-3708.
18. Collins S, Ruina A, Tedrake R, Wisse M, (2005) Efficient bipedal robots based on passive-dynamic walkers. Science 307: 1082-1085.
19. Kuo AD, (2002) Energetics of Actively Powered Locomotion Using the Simplest Walking Model. Journal of Biomechanical Engineering 124: 113-120.
20. Grillner S, Ekeberg Ö, El Manira A, Lansner A, Parker D, et al. (1998) Intrinsic function of a neuronal network - a vertebrate central pattern generator. Brain Research Reviews 26: 184-197.
21. Pearson KG, Mori S, Stuart DG, Wiesendanger M, (2004) Generating the walking gait: role of sensory feedback. Progress in Brain Research: Elsevier pp. 123-129.
22. Dietz V, Harkema SJ, (2004) Locomotor activity in spinal cord-injured persons. Journal of Applied Physiology 96: 1954-1960.
23. Van Wezel BMH, Ottenhoff FAM, Duysens J, (1997) Dynamic Control of Location-Specific Information in Tactile Cutaneous Reflexes from the Foot during Human Walking. J Neurosci 17: 3804-3814.
24. Ahn J, Hogan N, (2012) Walking Is Not Like Reaching: Evidence from Periodic Mechanical Perturbations. PLoS ONE 7: e31767.
25. Blickhan R, (1989) The spring-mass model for running and hopping. Journal of Biomechanics 22: 1217-1227.
26. Geyer H (2005) Simple Models of Legged Locomotion based on Compliant Limb Behavior: Friedrich-Schiller-Universität Jena.
27. Spong MW, Holm JK, Dongjun L, (2007) Passivity-Based Control of Bipedal Locomotion. Robotics & Automation Magazine, IEEE 14: 30-40.
28. Goswami A, Espiau B, Keramane A, (1997) Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws. Autonomous Robots 4: 273-286.
29. Garcia M, Chatterjee A, Ruina A, Coleman M, (1998) Simplest walking model: Stability, complexity, and scaling. Journal of Biomechanical Engineering, Transactions of the ASME 120: 281-288.
30. Perry J (1992) Gait Analysis: SLAK Incorporated. 52-87 p.
31. Bauby CE, Kuo AD, (2000) Active control of lateral balance in human walking. Journal of Biomechanics 33: 1433-1440.
32. Coleman MJ, Chatterjee A, Ruina A, (1997) Motions of a rimless spoked wheel: A simple three-dimensional system with impacts. Dynamics and Stability of Systems 12: 139-159.
33. Terrier P, Schutz Y, (2003) Variability of gait patterns during unconstrained walking assessed by satellite positioning (GPS). European Journal of Applied Physiology 90: 554-561.
34. Borelli GA (1680) De Motu Animalium. Rome.
35. Hoyt DF, Taylor CR, (1981) Gait and the energetics of locomotion in horses. Nature 292: 239-240.
36. Alexander RM, (1989) Optimization and gaits in the locomotion of vertebrates. Physiological Reviews 69: 1199-1227.
37. Alexander RM, (1992) A Model of Bipedal Locomotion on Compliant Legs. Philosophical Transactions of the Royal Society of London Series B: Biological Sciences 338: 189-198.
38. Minetti AE, Alexander RM, (1997) A Theory of Metabolic Costs for Bipedal Gaits. Journal of Theoretical Biology 186: 467-476.
39. Nishii J, (2000) Legged insects select the optimal locomotor pattern based on the energetic cost. Biological Cybernetics 83: 435-442.
40. Dawkins R (1982) The Extended Phenotype. Oxford, UK: Freeman.
41. DeVita P, Helseth J, Hortobagyi T, (2007) Muscles do more positive than negative work in human locomotion. J Exp Biol 210: 3361-3373.
42. Schmitt J, Holmes P, (2000) Mechanical models for insect locomotion: dynamics and stability in the horizontal plane I. Theory. Biological Cybernetics 83: 501-515.
43. Ghigliazza RM, Altendorfer R, Holmes P, Koditschek D, (2005) A Simply Stabilized Running Model. SIAM Review 47: 519-549.
44. Lee H, Ho P, Rastgaar M, Krebs HI, Hogan N (2010) Quantitative Characterization of Steady-State Ankle Impedance with Muscle Activation; September; Boston, USA. pp. 321-323.
45. McCaw ST, DeVita P, (1995) Errors in alignment of center of pressure and foot coordinates affect predicted lower extremity torques. Journal of Biomechanics 28: 985-988.