Adaptive multi-objective control explains how humans make lateral maneuvers while walking.
Adaptive multi-objective control explains how humans make lateral maneuvers while walking.
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DOI：
10.1371/journal.pcbi.1010035
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发表时间：
2022-11
影响因子：
4.3
通讯作者：
中科院分区：
文献类型：
--
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为了成功地穿越他们的环境，人类经常执行机动以实现期望的任务目标，同时保持平衡。人类主要通过调整脚的位置来完成这些任务。由于人类在横向上更不稳定，我们必须更好地了解人类如何调节横向脚的位置。我们以前开发了一个理论框架和相应的计算模型来描述人类如何在直行连续行走过程中调节横向步进。我们确定了目标函数的步宽和横向的身体位置，定义了步行任务，并确定了所有可能的任务解决方案的目标等效流形（GEM）。在这里，我们使用这个框架来确定人类是否可以通过最小化与这些目标函数一致的误差来调节非稳态横向机动期间的横向步进。20名年轻健康的成年人每人在虚拟现实环境中进行了四次侧向换道机动。扩展我们的一般横向步进调节框架，我们首先重新检查这种短暂的步行任务的要求。这样做产生了新的理论预测，关于在任何这样的机动过程中的步骤应该如何被调节，以最大限度地减少错误的成本，在每一步所需的目标和这些成本是如何适应在每一步在机动过程中。人类以与我们的理论预测一致的方式进行了实验性的横向机动。此外，他们的步进行为很好地建模，允许我们以前的横向步进模型的参数，以适应从一步到一步。据我们所知，我们的研究结果是第一个证明人类可能会在真实的时间内使用不断变化的成本景观来执行这种自适应运动任务，而且这种适应可以快速发生，只需一步。因此，我们的一般步进调节框架的预测能力扩展到更大范围的步行任务，而不仅仅是正常的直线行走。当我们在真实的世界中行走时，我们很少连续地走一条直线。事实上，我们经常必须执行其他任务，比如靠边站，以避免我们道路上的障碍物（无论是固定的还是移动的，就像另一个人向我们走来）。虽然我们必须高度平衡才能完成这些任务，但我们也必须保持平衡，以免在这样做的时候摔倒。这是具有挑战性的，因为行走的人类天生就更不稳定。侧向福尔斯跌倒对老年人特别危险，因为它们可能导致髋部骨折。在这里，我们建立了一个理论基础，人们如何可能完成这样的演习。我们表明，人类执行一个简单的横向换道机动与我们的理论预测一致。重要的是，我们的模拟表明，它们可以通过在每一步调整与直行相同的逐步调节策略来实现这一点。此外，这些相同的控制过程也解释了人类如何权衡左右稳定性，以获得执行此类横向机动所需的机动性。
To successfully traverse their environment, humans often perform maneuvers to achieve desired task goals while simultaneously maintaining balance. Humans accomplish these tasks primarily by modulating their foot placements. As humans are more unstable laterally, we must better understand how humans modulate lateral foot placement. We previously developed a theoretical framework and corresponding computational models to describe how humans regulate lateral stepping during straight-ahead continuous walking. We identified goal functions for step width and lateral body position that define the walking task and determine the set of all possible task solutions as Goal Equivalent Manifolds (GEMs). Here, we used this framework to determine if humans can regulate lateral stepping during non-steady-state lateral maneuvers by minimizing errors consistent with these goal functions. Twenty young healthy adults each performed four lateral lane-change maneuvers in a virtual reality environment. Extending our general lateral stepping regulation framework, we first re-examined the requirements of such transient walking tasks. Doing so yielded new theoretical predictions regarding how steps during any such maneuver should be regulated to minimize error costs, consistent with the goals required at each step and with how these costs are adapted at each step during the maneuver. Humans performed the experimental lateral maneuvers in a manner consistent with our theoretical predictions. Furthermore, their stepping behavior was well modeled by allowing the parameters of our previous lateral stepping models to adapt from step to step. To our knowledge, our results are the first to demonstrate humans might use evolving cost landscapes in real time to perform such an adaptive motor task and, furthermore, that such adaptation can occur quickly–over only one step. Thus, the predictive capabilities of our general stepping regulation framework extend to a much greater range of walking tasks beyond just normal, straight-ahead walking. When we walk in the real world, we rarely walk continuously in a straight line. Indeed, we regularly have to perform other tasks like stepping aside to avoid an obstacle in our path (either fixed or moving, like another person coming towards us). While we have to be highly maneuverable to accomplish such tasks, we must also maintain balance to avoid falling while doing so. This is challenging because walking humans are inherently more unstable side-to-side. Sideways falls are particularly dangerous for older adults as they can lead to hip fractures. Here, we establish a theoretical basis for how people might accomplish such maneuvers. We show that humans execute a simple lateral lane-change maneuver consistent with our theoretical predictions. Importantly, our simulations show they can do so by adapting at each step the same step-to-step regulation strategies they use to walk straight ahead. Moreover, these same control processes also explain how humans trade-off side-to-side stability to gain the maneuverability they need to perform such lateral maneuvers.
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DOI：
10.1242/jeb.102640
发表时间：
2014-11-01
期刊：
The Journal of experimental biology
影响因子：
--
作者：
Birn-Jeffery AV;Hubicki CM;Blum Y;Renjewski D;Hurst JW;Daley MA
通讯作者：
Daley MA
影响因子：
8.2
作者：
Gordon J;Maselli A;Lancia GL;Thiery T;Cisek P;Pezzulo G
通讯作者：
Pezzulo G
影响因子：
2.4
作者：
Donelan, JM;Shipman, DW;Kuo, AD
通讯作者：
Kuo, AD
DOI：
10.1007/978-1-4939-1338-1_9
发表时间：
2014-01-01
期刊：
PROGRESS IN MOTOR CONTROL: SKILL LEARNING, PERFORMANCE, HEALTH, AND INJURY, VOL 826
影响因子：
--
作者：
Cusumano, Joseph P.;Mahoney, Joseph M.;Dingwell, Jonathan B.
通讯作者：
Dingwell, Jonathan B.
DOI：
10.1037/xhp0000435
发表时间：
2017-10-01
影响因子：
2.1
作者：
Barton, Sean L.;Matthis, Jonathan S.;Fajen, Brett R.
通讯作者：
Fajen, Brett R.