We present a neuromuscular model of human locomotion that can
generate diverse locomotion behaviors. The neural controller of the
model consists of two layers. A lower, spinal cord layer generates
muscle stimulations mainly through integrated reflex pathways and a
higher, supraspinal layer modulates the reflex control gains. The model
can generate locomotion behaviors including walking and running,
acceleration and deceleration, slope and stair negotiation, turning,
and deliberate obstacle avoidance. These results not only may help to
better understand human motor control of locomotion, but also suggest
decentralized control algorithms for adaptive behavior in legged
robots. Exploring this second point, we highlight two application
domains, humanoids and artificial limbs. We present our current results
toward virtual neuromuscular controllers of bipedal robots that adapt
gait to environment changes, and toward reactive controllers of powered
knee prostheses for balance recovery and fall prevention in locomotion
of transfemoral amputees.
Slides: HSR_2015_Slides_Song.pdf
Neuromuscular model: nmsModel