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Generation of the Human Biped Stance by a Neural Controller Able to Compensate Neurological Time Delay.
- Source :
-
PLoS ONE . 21/9/2016, Vol. 11 Issue 9, p1-27. 27p. - Publication Year :
- 2016
-
Abstract
- The development of a physiologically plausible computational model of a neural controller that can realize a human-like biped stance is important for a large number of potential applications, such as assisting device development and designing robotic control systems. In this paper, we develop a computational model of a neural controller that can maintain a musculoskeletal model in a standing position, while incorporating a 120-ms neurological time delay. Unlike previous studies that have used an inverted pendulum model, a musculoskeletal model with seven joints and 70 muscular-tendon actuators is adopted to represent the human anatomy. Our proposed neural controller is composed of both feed-forward and feedback controls. The feed-forward control corresponds to the constant activation input necessary for the musculoskeletal model to maintain a standing posture. This compensates for gravity and regulates stiffness. The developed neural controller model can replicate two salient features of the human biped stance: (1) physiologically plausible muscle activations for quiet standing; and (2) selection of a low active stiffness for low energy consumption. [ABSTRACT FROM AUTHOR]
- Subjects :
- *TIME delay systems
*CHRONOLOGY
*TENDON diseases
*TENDONS
*SESAMOID bones
Subjects
Details
- Language :
- English
- ISSN :
- 19326203
- Volume :
- 11
- Issue :
- 9
- Database :
- Academic Search Index
- Journal :
- PLoS ONE
- Publication Type :
- Academic Journal
- Accession number :
- 118245458
- Full Text :
- https://doi.org/10.1371/journal.pone.0163212