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Updated: Jan 28, 2026

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Humans use multi-objective control to regulate lateral foot placement when walking.

Jonathan B Dingwell1, Joseph P Cusumano2

  • 1Department of Kinesiology, Pennsylvania State University, University Park, State College, Pennsylvania, United States of America.

Plos Computational Biology
|March 7, 2019
PubMed
Summary
This summary is machine-generated.

Human walking control is complex. Our computational models show the nervous system prioritizes step width regulation over lateral position to achieve stable, goal-directed locomotion, mimicking human movement dynamics.

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Area of Science:

  • Human motor neuroscience
  • Computational modeling
  • Biomechanics

Background:

  • Human walking involves complex motor control to manage physiological noise and redundancy.
  • Existing bipedal walking models struggle to replicate human equifinality and dynamic balance.
  • Understanding how the nervous system regulates stepping movements is crucial for developing accurate computational models.

Purpose of the Study:

  • To extend the Goal Equivalent Manifold (GEM) framework for predictive modeling of human walking.
  • To test hypotheses regarding how humans regulate stepping movements to achieve specific goals (lateral position, speed, step width).
  • To compare model predictions with human experimental data to identify key control strategies.

Main Methods:

  • Developed computational models based on the Goal Equivalent Manifold (GEM) framework.
  • Modeled stepping movement regulation for single and combined goals: maintaining lateral position, lateral speed, and step width.
  • Compared model predictions against experimental data from human walking.

Main Results:

  • Uni-objective models showed redundancy but failed to replicate human stepping dynamics.
  • Most multi-objective models balancing two goals also failed to match human data.
  • Multi-objective models prioritizing step width regulation over lateral position successfully replicated human step-to-step dynamics.

Conclusions:

  • Human lateral stepping movement regulation is inherently multi-objective, involving trade-offs between competing goals.
  • Prioritizing step width regulation is key to replicating observed human walking dynamics.
  • GEM models serve as 'control templates' that complement mechanical templates for understanding human locomotion.