A unified energy-optimality criterion predicts human navigation paths and speeds.
A unified energy-optimality criterion predicts human navigation paths and speeds.
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DOI：
10.1073/pnas.2020327118
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发表时间：
2021-07-20
影响因子：
11.1
通讯作者：
Srinivasan M
中科院分区：
文献类型：
--
作者：
Brown GL;Seethapathi N;Srinivasan M
为什么人类会这样移动？在这里，我们获得了一个基于生理学的理论的速度和路径，人类导航他们的环境。我们测量的代谢能量成本的步行与转弯，并表明，最小化这一成本解释了不同的现象，涉及导航周围的障碍，走在复杂的路径，和转弯。我们解释了为什么人类在转弯时会减速，避免急转弯，并不总是使用最短路径，以及其他自然运动现象。导航我们的物理环境需要改变方向和转向。尽管它在生态学上很重要，但我们对非直线人类运动没有一个统一的理论解释。在这里，我们提出了一个统一的最优性标准，预测不同的非直线行走现象，直线行走作为一个特例。我们首先描述了转弯的代谢成本，推导出成本景观作为转弯半径和速率的函数。然后，我们将此成本景观推广到任意复杂的轨迹，允许速度方向偏离身体方向（完整步行）。我们使用这种广义最优性标准来数学预测不同复杂性的多种情况下的运动模式：在规定的路径上行走，原地转弯，在有角度的走廊上导航，在端点约束下自由导航，穿过门，绕过障碍物。在这些任务中，人类以我们的最优性标准预测的速度和路径移动，减速转弯，从不使用急转弯。我们表明，两点之间的最短路径，违反直觉，往往不是能源最优，而且，事实上，人类不使用最短路径在这种情况下。因此，我们已经获得了一个统一的理论帐户，预测人类行走的路径和速度在不同的情况下。我们的模型专注于健康成年人的行走;未来的工作可以将此模型推广到其他人群，其他动物和其他运动任务。
Why do humans move the way they do? Here, we obtain a physiologically based theory of the speeds and paths with which humans navigate their environment. We measure the metabolic energy cost of walking with turning and show that minimizing this cost explains diverse phenomena involving navigating around obstacles, walking in complex paths, and turning. We explain why humans slow down while turning, avoid sharp turns, do not always use the shortest path, and other naturalistic locomotor phenomena. Navigating our physical environment requires changing directions and turning. Despite its ecological importance, we do not have a unified theoretical account of non-straight-line human movement. Here, we present a unified optimality criterion that predicts disparate non-straight-line walking phenomena, with straight-line walking as a special case. We first characterized the metabolic cost of turning, deriving the cost landscape as a function of turning radius and rate. We then generalized this cost landscape to arbitrarily complex trajectories, allowing the velocity direction to deviate from body orientation (holonomic walking). We used this generalized optimality criterion to mathematically predict movement patterns in multiple contexts of varying complexity: walking on prescribed paths, turning in place, navigating an angled corridor, navigating freely with end-point constraints, walking through doors, and navigating around obstacles. In these tasks, humans moved at speeds and paths predicted by our optimality criterion, slowing down to turn and never using sharp turns. We show that the shortest path between two points is, counterintuitively, often not energy-optimal, and, indeed, humans do not use the shortest path in such cases. Thus, we have obtained a unified theoretical account that predicts human walking paths and speeds in diverse contexts. Our model focuses on walking in healthy adults; future work could generalize this model to other human populations, other animals, and other locomotor tasks.
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DOI：
10.1242/jeb.122135
发表时间：
2015-09
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Hubel TY;Usherwood JR
通讯作者：
Usherwood JR
影响因子：
3.4
作者：
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通讯作者：
Schieppati, M
影响因子：
64.8
作者：
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通讯作者：
Wolpert, DM
DOI：
10.1242/jeb.104646
发表时间：
2015-10
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Gordon JC;Rankin JW;Daley MA
通讯作者：
Daley MA
影响因子：
2.8
作者：
Doke, J;Donelan, JM;Kuo, AD
通讯作者：
Kuo, AD