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TECHNICAL PAPERS: Joint/Whole Body

A Model of Neuro–Musculo–Skeletal System for Human Locomotion Under Position Constraint Condition

[+] Author and Article Information
Jiangsheng Ni

Department of Instrument Science, Southeast University, 2 Sipailou, Nanjing, China, 210096

Seiji Hiramatsu, Atsuo Kato

Bio Mechanism Laboratory, Aichi Institute of Technology, 1247 Yachigusa, Yagusa-cho, Toyota, Japan, 470-0392

J Biomech Eng 125(4), 499-506 (Aug 01, 2003) (8 pages) doi:10.1115/1.1590357 History: Received March 21, 2001; Revised February 25, 2003; Online August 01, 2003
Copyright © 2003 by ASME
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References

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Figures

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The essential model of human locomotion. (a) The configuration of human body; (b) The structure of muscles (1. Rectus abdominis; 2. erector spinae; 3.5. iliopsoas; 4.6. gluteus maximus; 7.9. rectus femoris; 8.10. hamstrings; 11.13. biceps femoris; 12.14. vastus; 15.17. tibialis anterior; 16.18. soleus; 19.20. gastrocnemius.); (c) The neural rhythm generator
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Basic structure of the model
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Stairs climbing movement
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The simulation results of the walking movement (a) The stick figure of the walking movement (b) The activities of the neural oscillators in walking movement (u1,u2 is the trunk neural oscillation; u3,u4 is the hip neural oscillation; u7,u8 is the knee neural oscillation; u11,u12 is the ankle neural oscillation) (c) The angles of the body segments in walking movement (θ1 is the HAT angle; θ2 is the pelvis angle; θ3 is the thigh angle; θ5 is the shank angle; θ7 is the foot angle.)
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The stick figure of the climbing movement
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The activities of the neural oscillators in climbing movement (u1,u2 is the trunk neural oscillation; u3,u4 is the hip neural oscillation; u7,u8 is the knee neural oscillation; u11,u12 is the ankle neural oscillation)
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The angles of the body segments in climbing movement (θ1 is the HAT angle; θ2 is the pelvis angle; θ3 is the thigh angle; θ5 is the shank angle; θ7 is the foot angle.)
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The joint torques (Tr, is the trunk joint torque; Tr2,Tr3 are the hip joint torques; Tr4,Tr5 are the knee joint torques; Tr6,Tr7 are the ankle joint torques.)
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The output of the feedback controller (a) The muscle torques generated by the feedback controller for obstacle avoidance (r1=40;r2=70;r3=60.) (b) The muscle torques generated by the feedback controller for position feedback (a1=400;b1=20)
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The output of the stability controller (a) The ankle muscle torques for stability control (v0=0.75) (b) The magnitude of torque for stability control (kp=400)
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Comparison between simulation and measured data of walking movement

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