This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
home [2014/05/18 15:36] Filip Cengic [Locomotion Laboratory] |
home [2019/02/18 11:48] Maziar Sharbafi [Pick of the month - Workshop in BioRob 2018: Novel bioinspired actuator designs for robotics (BioAct).] |
||
---|---|---|---|
Line 13: | Line 13: | ||
===== NEWS ===== | ===== NEWS ===== | ||
- | ==== Pick of the month - Compliant ankle function results | + | ==== Pick of the month - Concerted control concept |
+ | |||
+ | |||
+ | {{ : | ||
+ | |||
+ | A new concept termed concerted control is introduced in our recently published paper in the //IEEE Transactions on Medical Robotics and Bionics// journal titled [[https:// | ||
+ | |||
+ | |||
+ | **Abstract: | ||
+ | |||
+ | In human locomotion, the complex structure of the human body is controlled such that conceptual models (e.g., the spring-loaded-inverted-pendulum model) can describe the significant features. This suggests that the interplay of the complex control and musculoskeletal systems projects into a low-dimensional space to perform different movements. Such simplification can involve splitting the task into different modular control subproblems (locomotor subfunctions) that can be solved individually. Here, we asked how two locomotor subfunctions, | ||
+ | |||
+ | **Keywords: | ||
+ | |||
\\ | \\ | ||
- | [{{ : | ||
- | The spring loaded inverted pendulum (SLIP) model is widely used to explain basic characteristics of human walking and running. Its periodic running solutions can be mirrored at the instant of the vertical orientation of the leg and thus are symmetric between landing and take-off. In contrast, human running shows asymmetries between touchdown and take-off (e.g. shorter brake than push duration, greater mean ground reaction force during braking phase). Yet it is not fully understood whether these asymmetries are caused by asymmetric muscle properties (e.g. velocity-dependent force generation) or the asymmetric lever arm system in the human leg. We extend the SLIP model by a foot segment and a compliant ankle joint (called FSLIP). This represents the extended foot contact and the displacement of the center of pressure during contact. | ||
- | The FSLIP model shows the same asymmetries as found in human running without considering asymmetric muscle properties. Together with the reversed asymmetry observed in human backward running, this indicates that the asymmetric lever arms created by the foot can cause the observed landing-take-off asymmetry in human running. | ||
- | \\ \\ | ||
[[publications: | [[publications: | ||
+ | |||
+ | |||
+ |