Locomotor adaptations in relation to mode and environmental factors

自推进位移可以采取多种形式（如两足、轮式），但总是需要由环境和意图驱动的支撑、平衡和轨迹控制（方向和速度）。虽然我们对行走的预期控制有了很多了解，但诸如跨越障碍物的下肢独立性，以及在更大的人-环境连续体中规避障碍物（特别是社会因素和运动模式）的因果关系等问题仍然没有得到很好的理解。我的长期目标是：1)研究与预期运动适应相关的个人和环境因素之间的相互作用；2)改进测量这种相互作用的技术。关于这两个领域，未来五年的项目旨在：1a -了解平衡和阶梯控制之间的关系，以及环境障碍物的物理特性；1b -区分与环境因素相关的通用和特定模式的运动导航控制；c -相关的运动导航控制与物理和社会环境因素；创新运动虚拟现实协议，模拟身体社交接触。******实验协议将涉及使用物理和虚拟设置跨越和绕过不同特征的障碍。所有的项目都将包括三维运动的测量，视情况而定，通过运动分析、力板以及肌肉活动和眼球运动的测量来调整路径轨迹、个人空间或下肢和足部的控制。我们将开发一个虚拟现实平台来操纵化身的动作、面部和身体情感，将社交互动与导航调整联系起来。两足动物、轮椅和自行车的运动将在一个需要绕过静态障碍物的物理设置中进行比较，观察不同的转向和推进对导航行为的影响。技术开发目前正在与工程部门的同事合作项目中进行，该项目使用机器人电缆驱动系统，在跑步机步态中引入与虚拟人物的实际环境接触。*** ***这项工作将进一步推进我们对与环境相关的共同和特定模式的运动控制的理解。除了促进相关技术的发展外，它还将为机器人、城市规划和康复等领域提供有价值的基础信息。**

Self propelled displacement can take many forms (e.g., biped, wheeled), but always requires support, balance, and trajectory control (direction and speed) driven by the environment and intent. While we are learning much about anticipatory control of walking, issues such as lower limb independence for stepping over obstacles, and the cause-effect relationships within the larger person-environment continuum for circumventing obstacles (particularly for social factors and locomotor mode) are still not well understood. The long-term goals of my program are to: 1) study the interaction between personal and environmental factors related to anticipatory locomotor adaptation; and 2) advance technology to measure such interaction. In relation to these two areas, projects over the next five years are designed to : 1a –understand the relation between equilibrium and stepping control with respect to the physical characteristics of environmental obstructions; 1b–differentiate generic from mode-specific locomotor navigational control related to environmental factors; 1c–relate locomotor navigational control to physical and social environmental factors; and 2–innovate locomotor VR protocols to simulate physical social contact.****** Experimental protocols will involve stepping over and circumventing obstacles of different characteristics using both physical and virtual setups. All projects will include measures of three-dimensional movements related, as appropriate, to adjustments in path trajectory, personal space or lower limb and foot control using motion analyses, force plates, as well as measures of muscle activity and eye movements. We will develop a virtual reality platform to manipulate avatar movements and face and body emotion to relate social interaction to navigational adjustments. Biped, wheelchair and bicycle locomotion will be compared in a physical setup with a static obstacle to circumvent, looking at the effects of different steering and propulsion on navigational behaviour. Technology developments are presently carried out in a collaborative project with colleagues in engineering to use a robotic cable driven system to introduce actual environmental contact with avatars during treadmill gait. *** *** This work will further advance our understanding of common and mode-specific locomotor control in relation to the environment. Together with contributing to the evolution of related technology, it will also provide valuable fundamental information for fields such as robotics, urban planning, and rehabilitation. **