A Study of Coordination Mechanism of the Lower Limb and the Posture of the Trunk in Human Locomotion

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This study treats joint synergy and control strategy of human locomotion. The numerical simulations based on the motion captured data of human locomotion revealed the physical meanings of the lower limb's joint synergy and control strategy. Support leg is controlled to move the center of mass to the forward keeping the soul's contact to the surface of the ground. The control strategy of swing leg is ballistic control with initiating active control and nonlinear passive visco-elastic properties determine periodic behavior. From these results, we can note that the fundamental control system of human locomotion is not based on exact model or reference motions but on 'no control as possible' principle.