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Modular control of limb kinematics during human walking

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5 Author(s)
Hiroaki Hirai ; Department of Mechanical Science and Bioengineering, Graduate School of Engineering Science, Osaka University, Japan ; Kazuhiro Matsui ; Taiki Iimura ; Keigo Mitsumori
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We made a discovery that links with influential hypotheses that the central nervous system may produce movements by combining units of motor output. This paper introduces the key concept we call the “A-A ratio,” which is the EMG ratio of agonist-antagonist muscle pairs. The statistical analysis based on the A-A ratio specifies that (1) human lower limb movement during walking is explained as the superposition of a few modular units, and that (2) decomposed modules encode the kinematic information of body movement. The results also clarifies that various hypotheses, such as the muscle-synergy hypothesis, the population-vector hypothesis, and the convergent-force-fields hypothesis, are different interpretations of a common equation derived from our analysis.

Published in:

Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on

Date of Conference:

26-29 Sept. 2010