Real time control of a CPG-based model of the human trunk in different walking conditions.
2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 2009-09-01; :
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1. Conf Proc IEEE Eng Med Biol Soc. 2009;2009:1388-91. doi:
Real time control of a CPG-based model of the human trunk in different walking
Ceccato JC(1), Azevedo-Coste C, Cazalets JR.
(1)DEMAR INRIA/LIRMM 161 rue Ada 34392 Montpellier CEDEX 5, France.
Artificial central pattern generators (CPGs) framework is well adapted to the
control of bio-mimetic systems during rhythmic tasks like locomotion. They have
the ability to reproduce biological behavior as well as to be used as feedforward
controllers for multi-articulated systems. In this paper we present a model of
human gait activity based on an oscillator network. The model is especially
dedicated to reproduce trunk muscular activities as observed in previous studies,
and to fill a lack in trunk modeling in human gait simulation. An offline
validation is performed using recorded accelerometer signal that monitors trunk
movements during locomotion. We are able to control the model based on this real
data and to adapt its pattern to contextual changes (stairs, slope).
PMID: 19964520 [Indexed for MEDLINE]