We present a neuromorphic pattern generator for controlling the walking gaits of four-legged robots which is inspired by central pattern generators found in the nervous system and which is implemented as a very large scale integrated (VLSI) chip. The chip contains oscillator circuits that mimic the output of motor neurons in a strongly simplified way. We show that four coupled oscillators can produce rhythmic patterns with phase relationships that are appropriate to generate all four-legged animal walking gaits. These phase relationships together with frequency and duty cycle of the oscillators determine the walking behavior of a robot driven by the chip, and they depend on a small set of stationary bias voltages. We give analytic expressions for these dependencies. This chip reduces the complex, dynamic inter-leg control problem associated with walking gait generation to the problem of setting a few stationary parameters. It provides a compact and low power solution for walking gait control in robots.
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http://dx.doi.org/10.1109/TNN.2005.863454 | DOI Listing |
Sci Rep
January 2025
Neuro-Robotics Lab, Department of Robotics, Graduate School of Engineering, Tohoku University, Sendai, Japan.
Humans exploit motor synergies for motor control; however, how they emerge during motor learning is not clearly understood. Few studies have dealt with the computational mechanism for generating synergies. Previously, optimal control generated synergistic motion for the upper limb; however, it has not yet been applied to the high-dimensional whole-body system.
View Article and Find Full Text PDFJ Med Internet Res
December 2024
Institute for Musculoskeletal Health, Sydney Local Health District, Sydney, Australia.
Background: Advanced technologies are becoming increasingly accessible in rehabilitation. Current research suggests technology can increase therapy dosage, provide multisensory feedback, and reduce manual handling for clinicians. While more high-quality evidence regarding the effectiveness of rehabilitation technologies is needed, understanding of how to effectively integrate technology into clinical practice is also limited.
View Article and Find Full Text PDFJ Appl Biomech
January 2025
Rehabilitation Research Center, Ahvaz Jundishapur University of Medical Sciences, Ahvaz, Iran.
Knee osteoarthritis (KOA) can have more pronounced effects on joint position sense (JPS) accuracy and gait characteristics. The aim of this study is to investigate the association between lower limb JPS and different aspects of gait pattern including gait asymmetry and variability and spatiotemporal coordination in individuals with bilateral KOA. In this cross-sectional study, lower limb JPS of 43 individuals with bilateral KOA (mild and moderate) were measured.
View Article and Find Full Text PDFJ Appl Biomech
January 2025
Lancaster Medical School, Faculty of Health and Medicine, Lancaster University, Lancaster, United Kingdom.
This study compares joint kinematics and kinetics of young stroke survivors who walk <0.79 m/s (slow) or >0.80 m/s (fast) with reference to a healthy able-bodied group and provides clinical recommendations for guiding the gait rehabilitation of stroke survivors.
View Article and Find Full Text PDFGait Posture
December 2024
Marquette University, 1250 W. Wisconsin Ave, Milwaukee, WI 53233, United States; Shriners Children's Chicago, 2211 N. Oak Park Ave, Chicago, IL 60707, United States.
Background: Understanding midfoot joint kinetics is valuable for improved treatment of foot pathologies. Segmental foot kinetics cannot currently be obtained in a standard gait lab without the use of multiple force plates or a pedobarographic plate overlaid with a force plate due to the single ground reaction force (GRF) vector.
Research Question: Can an algorithm be created to distribute the GRF into multiple segmental vectors that will allow for calculation of accurate midfoot and ankle moments?
Methods: 20 pediatric subjects (10 typically developing, 10 with foot pathology) underwent multi-segment foot gait analysis using the Milwaukee Foot Model.
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