Abstract Neuromuscular control models describe human locomotion by combining kinematic chain representations of the human skeleton with models of muscle-tendon actuators and control architectures mimicking neural circuits. The models have originally been developed to better understand human motor control. However, over the past two decades, they have reached a level of sophistication that invites their application in the control of robotic limbs and humanoid robots. The application opportunities motivate this overview chapter on human neuromuscular models. First, the key elements of the human locomotion system are introduced from an engineering perspective, providing physiological context and examples of model implementations. The elements are then combined, and the overall control topology of human neuromuscular models is discussed. Finally, the evolution of specific control hypotheses and architectures is highlighted, including architectures with a central pattern network at the core and architectures bypassing it. The chapter closes with suggestions for future directions that will likely improve the utility of neuromuscular models and with examples of their application in the control of robotic systems.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Neuromuscular Control Models of Human Locomotion


    Beteiligte:
    Geyer, Hartmut (Autor:in) / Seyfarth, André (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2018-10-10


    Format / Umfang :

    29 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Challenging human locomotion

    Santuz, Alessandro / Ekizos, Antonis / Eckardt, Nils et al. | BASE | 2018

    Freier Zugriff

    Human-Like Bipedal Locomotion

    Berns, Karsten | Springer Verlag | 2024



    RECOGNITION AND ESTIMATION OF HUMAN LOCOMOTION WITH HIDDEN MARKOV MODELS

    Fischer, A. / Gehrig, D. / Stein, T. et al. | BASE | 2009

    Freier Zugriff