Locomotor adaptations in relation to mode and environmental factors

自行式置换可以采取多种形式(例如，两足动物、轮式)，但始终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)。虽然我们正在学习行走的预期控制，但诸如跨过障碍物时的肢体独立性，以及绕过障碍物的更大的人-环境连续体中的因果关系(特别是社会因素和运动模式)仍然不太清楚。我的计划的长期目标是：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)发展衡量这种相互作用的技术。关于这两个领域，未来五年的项目被设计为：1a根据环境障碍物的物理特征了解平衡控制和步进控制之间的关系；1b区分与环境因素有关的通用和特定模式的运动导航控制；1创建针对物理和社会环境因素的运动导航控制；以及2创新运动虚拟现实协议，以模拟物理社会接触。 实验协议将涉及跨越和绕过不同特征的障碍，使用物理和虚拟设置。所有项目都将酌情包括与使用运动分析的路径轨迹、个人空间或下肢和脚的控制调整有关的三维运动测量，以及肌肉活动和眼球运动的测量。我们将开发一个虚拟现实平台来操纵虚拟化身的运动以及面部和身体的情感，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物理设置中与要绕过的静态障碍进行比较，观察不同的转向和推进对导航行为的影响。目前，技术开发是与工程部门的同事合作进行的，该项目使用机器人电缆驱动系统，在跑步机步态中引入与化身的实际环境接触。 这项工作将进一步促进我们对与环境有关的常见运动控制和特定模式运动控制的理解。除了对相关技术的发展做出贡献外，它还将为机器人、城市规划和康复等领域提供有价值的基本信息。

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; 1bdifferentiate generic from mode-specific locomotor navigational control related to environmental factors; 1crelate locomotor navigational control to physical and social environmental factors; and 2innovate 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.