title: 'Initial state' coordinations reproduce the instant flexibility for human walking.
abstract: An important feature of human locomotor control is the instant adaptability to unpredictable changes of conditions surrounding the locomotion. Humans, for example, can seamlessly adapt their walking gait following a sudden ankle impairment (e.g., as a result of an injury). In this paper, we propose a theoretical study of the mechanisms underlying flexible locomotor control. We hypothesize that flexibility is achieved by modulating the posture at the beginning of the stance phase-the initial state. Using a walking model, we validate our hypothesis through computer simulations.
authors.affiliation: Department of Life Sciences, The University of Tokyo, Komaba 3-8-1, Tokyo, 153-8902, Japan. kuninari-oogane@aist.go.jp
authors.forename: Akane
authors.initials: A
authors.lastname: Ohgane
authors.forename: Kunishige
authors.initials: K
authors.lastname: Ohgane
authors.forename: Shin-ichiro
authors.initials: S
authors.lastname: Ei
authors.forename: Hitoshi
authors.initials: H
authors.lastname: Mahara
authors.forename: Tatsuyuki
authors.initials: T
authors.lastname: Ohtsuki
mesh_terms: D000222:Adaptation, Physiological / Q000502:physiology; D000842:Ankle / Q000502:physiology; D003198:Computer Simulation; D006801:Humans; D007866:Leg / Q000502:physiology; D008954:Models, Biological; D009424:Nervous System Physiological Phenomena; D009474:Neurons / Q000502:physiology; D018583:Pliability; D004856:Postural Balance / Q000502:physiology*; D011187:Posture / Q000502:physiology; D011597:Psychomotor Performance / Q000502:physiology; D015203:Reproducibility of Results; D016138:Walking / Q000502:physiology*