title: How locomotion sub-functions can control walking at different speeds?
abstract: Inspired from template models explaining biological locomotory systems and Raibert׳s pioneering legged robots, locomotion can be realized by basic sub-functions: elastic axial leg function, leg swinging and balancing. Combinations of these three can generate different gaits with diverse properties. In this paper we investigate how locomotion sub-functions contribute to stabilize walking at different speeds. Based on this trilogy, we introduce a conceptual model to quantify human locomotion sub-functions in walking. This model can produce stable walking and also predict human locomotion sub-function control during swing phase of walking. Analyzing experimental data based on this modeling shows different control strategies which are employed to increase speed from slow to moderate and moderate to fast gaits.
authors.affiliation: School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Iran; Lauflabor Locomotion Laboratory, TU Darmstadt, Germany. Electronic address: sharbafi@ut.ac.ir.
authors.forename: Maziar
authors.initials: M
authors.lastname: Ahmad Sharbafi
authors.affiliation: Lauflabor Locomotion Laboratory, TU Darmstadt, Germany. Electronic address: seyfarth@sport.tu-darmstadt.de.
authors.forename: Andre
authors.initials: A
authors.lastname: Seyfarth
mesh_terms: D000328:Adult; D001696:Biomechanical Phenomena; D005260:Female; D006801:Humans; D007866:Leg / Q000502:physiology; D008297:Male; D008954:Models, Biological; D016138:Walking / Q000502:physiology*; D055815:Young Adult
keywords: Bipedal walking; Conceptual models; Locomotion control; Posture control; Stance leg axial function; Swing leg adjustment