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• W2011092139 startingPage "046011" @default.
• W2011092139 abstract "In this paper, we describe the development of a bipedal robot that models the neuromuscular architecture of human walking. The body is based on principles derived from human muscular architecture, using muscles on straps to mimic agonist/antagonist muscle action as well as bifunctional muscles. Load sensors in the straps model Golgi tendon organs. The neural architecture is a central pattern generator (CPG) composed of a half-center oscillator combined with phase-modulated reflexes that is simulated using a spiking neural network. We show that the interaction between the reflex system, body dynamics and CPG results in a walking cycle that is entrained to the dynamics of the system. We also show that the CPG helped stabilize the gait against perturbations relative to a purely reflexive system, and compared the joint trajectories to human walking data. This robot represents a complete physical, or 'neurorobotic', model of the system, demonstrating the usefulness of this type of robotics research for investigating the neurophysiological processes underlying walking in humans and animals." @default.
• W2011092139 created "2016-06-24" @default.
• W2011092139 creator A5022956718 @default.
• W2011092139 creator A5054738975 @default.
• W2011092139 date "2012-07-05" @default.
• W2011092139 modified "2023-09-25" @default.
• W2011092139 title "A physical model of sensorimotor interactions during locomotion" @default.
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• W2011092139 doi "https://doi.org/10.1088/1741-2560/9/4/046011" @default.
• W2011092139 hasPubMedId "https://pubmed.ncbi.nlm.nih.gov/22766556" @default.
• W2011092139 hasPublicationYear "2012" @default.
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