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Stepping over obstacles during locomotion: insights from multiobjective optimization on set of input parameters
M Armand1, J P Huissoon, A E Patla
1Department of Mechanical Engineering, University of Waterloo, Ont., Canada.
IEEE Transactions on Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
|April 16, 1998
Summary
The central nervous system (CNS) uses biarticular muscles for obstacle clearance during walking. Trailing limb control is simpler, while leading limb obstacle negotiation requires specific initial conditions for stability.
Area of Science:
- Biomechanics
- Neuroscience
- Robotics
Background:
- Human locomotion involves complex planning for obstacle negotiation.
- The central nervous system (CNS) must coordinate muscle activity for efficient and stable stepping.
- Understanding the CNS's objectives in obstacle avoidance is crucial for developing advanced robotic systems.
Purpose of the Study:
- To investigate the CNS's potential objectives for planning obstacle-stepping strategies.
- To simulate and optimize muscle force inputs for landing stability, obstacle clearance, and movement efficiency.
- To analyze the role of initial conditions and biarticular muscles in the swing phase of locomotion.
Main Methods:
- Developed a link segment simulation model using Lagrangian dynamics.
- Employed a direct optimization approach with multiobjective criteria.
- Focused on kinematic and kinetic characteristics of the swing phase for both leading and trailing limbs.
Main Results:
- Biarticular muscles are sufficient for trailing limb obstacle clearance, suggesting simpler CNS control.
- Leading limb obstacle clearance with biarticular muscles is possible but requires specific initial conditions for stable landing and smooth trajectories.
- The postulated objectives for the leading limb appear adequate but potentially incomplete.
Conclusions:
- The CNS may utilize biarticular muscles effectively for obstacle negotiation.
- Trailing limb trajectory control during obstacle stepping appears less complex than for the leading limb.
- Optimizing leading limb swing requires careful consideration of initial conditions at toe-off for a successful and stable step over an obstacle.