PMID: 9535522Apr 16, 1998Paper

Stepping over obstacles during locomotion: insights from multiobjective optimization on set of input parameters

IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
M ArmandA E Patla

Abstract

In this study we investigate possible objectives that the central nervous system (CNS) may consider in planning a strategy for stepping over an obstacle. A link segment simulation model has been developed based on Lagrangian dynamics, with which muscle force inputs can be optimized to best satisfy the postulated objectives for landing stability, obstacle clearance, and efficiency of the movement. A direct optimization approach with multiobjective criteria based on the kinematic and kinetic characteristics of the swing phase of locomotion is used in the simulation. The role of initial conditions at toe-off and biarticular muscle forces during the swing phase was also investigated. The optimization was performed for both leading limb and the trailing limb during the swing phase. The simulation results demonstrate that the use of biarticular muscles is sufficient to clear a range of obstacles with the trailing limb (obstacle encountered during early swing). Stride length or landing stability objectives need not be specified suggesting a simpler control of trailing limb trajectory by the CNS (one of stride length or landing stability objectives were not necessary). In contrast while the use of biarticular muscles can be sufficient ...Continue Reading

References

Nov 1, 1991·Journal of Gerontology·H C ChenA B Schultz
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Citations

Sep 30, 1999·Gait & Posture·G P AustinR W Bohannon
Apr 3, 1999·IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·B E Maki, W E McIlroy
Nov 18, 2009·Optometry and Vision Science : Official Publication of the American Academy of Optometry·Valentina GraciJohn G Buckley
Aug 28, 2020·Frontiers in Neuroscience·Daniel-Robert ChebatMaurice Ptito
Jan 5, 2018·Experimental Brain Research·Louis-Philippe DugasBradford J McFadyen

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