Entrainment of Ankle-Actuated Walking Model to Periodic Perturbations via Leading Leg Angle Control
Entrainment of Ankle-Actuated Walking Model to Periodic Perturbations via Leading Leg Angle Control
复制标题
通过前腿角度控制将踝驱动行走模型引入周期性扰动
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
N. Hogan
中科院分区：
文献类型：
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作者：
Daniel E. Rigobon;J. Ochoa;N. Hogan
在以前的工作中，建立了一个两足行走的最小数学模型来研究实验观察到的人类运动的缠绕行为。虽然该模型再现了人类行走的几个显著特征，但它没有受到周期长于预期步行周期的周期性扰动的影响。为了克服这一局限，我们引入了前腿角度控制的形式的传入反馈，这依赖于前面步骤的能量。在模拟中再次研究了模型对周期扰动的响应，测试了几个扰动周期和初始扰动阶段。这一修正后的模型捕捉到了之前通过实验观察到的人类运动的重要方面：较短和较长扰动周期的有限夹带盆地。无论启动扰动的步进周期的(随机)阶段，所有牵引式模拟都与双站姿结束时的扭矩脉冲锁相。然而，需要两倍以上的步骤才能陷入更长的扰动。这一修正的步行模型所获得的结果强调了两足运动的振荡动力学的重要性，并强调了步态缠绕作为一种允许运动引导方法在辅助和康复机器人领域中的可能应用。
In prior work, a minimal mathematical model of bipedal walking was developed to investigate the experimentally observed entrainment behavior of human locomotion. While that model reproduced several salient properties of human walking, it failed to entrain to periodic perturbations with period longer than preferred walking period. To overcome that limitation, we introduced afferent feedback in the form of leading leg angle control that depended on the energetics of previous steps. The model response to periodic perturbations was again studied in simulation, testing several perturbation periods and initial perturbation phases. This revised model captured important aspects of human locomotion that had been previously observed experimentally: a finite basin of entrainment to both shorter and longer perturbation periods. Regardless of the (random) phases of the step cycle at which perturbations were initiated, all entrained simulations phase-locked with the torque pulses at the end of double stance. However, more than twice as many steps were required to entrain to longer perturbations. The results achieved with this revised walking model emphasize the importance of the oscillatory dynamics of bipedal locomotion and highlight possible applications of gait entrainment as a method for permissive motor guidance in the field of assistive and rehabilitation robotics.