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Similar sensorimotor transformations control balance during standing and walking.

Maarten Afschrift1, Friedl De Groote2, Ilse Jonkers2

  • 1Department of Mechanical Engineering, Robotics Core Lab of Flanders Make, KU Leuven, Belgium.

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Summary

Human balance control during walking uses feedback of center of mass (COM) position and velocity, similar to standing. Feedback gains adjust during gait and with speed, informing robotic device control.

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Area of Science:

  • Human sensorimotor control
  • Biomechanics
  • Robotics

Background:

  • Human balance relies on sensory-to-motor transformations.
  • Existing models often lack detailed balance control for the ankle during dynamic activities like walking.

Purpose of the Study:

  • To determine if walking balance control uses task-level center of mass (COM) kinematics feedback, like standing balance.
  • To compare COM feedback with joint-level sensory feedback (ankle angles/velocities).

Main Methods:

  • Perturbing walking humans using platform translations and pelvis pushes.
  • Analyzing reactive ankle muscle activity and joint moments.
  • Testing delayed linear feedback models for COM position/velocity and ankle kinematics.

Main Results:

  • Delayed linear feedback of COM position and velocity explained reactive balance responses.
  • Ankle angle and velocity feedback did not explain responses.
  • Feedback gains were modulated across the gait cycle and decreased with walking speed.

Conclusions:

  • Task-level COM kinematics are key for both standing and walking balance.
  • Modulated feedback gains during gait accommodate body configuration and speed-dependent stability.
  • Findings advance neuromechanical models and biomimetic control for wearable robots, enabling shared balance control.