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Andre SeyfarthAndre Seyfarth
Hartmut GeyerHartmut Geyer
Fumiya IidaFumiya Iida
Leg design and Leg design and control of control of locomotionlocomotion
Zurich, 25 May 2004Zurich, 25 May 2004
Locomotion Lab Jena
LocomotionExperiments
NeuromechanicalModels
TechnicalImplementation
Gait Transitions
3D-instrumentedTreadmill
Gait specific control templates Legged Systems
Gait Orthesis
LocomotionExperiments
NeuromechanicalModels
TechnicalImplementation
Central hypothesisCentral hypothesis
To achieve periodic movement To achieve periodic movement patterns, an appropriate design patterns, an appropriate design criterion is required.criterion is required.
In our approach, In our approach, system system stabilitystability is such a criterion. is such a criterion.
Stability requirementsStability requirements
Internal
GlobalLeg Operation
Stability requirementsStability requirements
Internal
Leg Operation SegmentationSegmentation Control at Joint LevelControl at Joint Level
Stability requirementsStability requirements
Global Leg Operation Running Running Walking Walking Gait TransitionGait Transition
Part I Part I
InternalInternalLeg OperationLeg Operation
Biologically Inspired Biologically Inspired ApproachApproach
In many task, the leg behavior In many task, the leg behavior can be compared to a simple can be compared to a simple mechanical spring.mechanical spring.
Control of a Control of a segmented legsegmented leg
Idea
Control of a Control of a segmented legsegmented leg
Idea
Control of a Control of a segmented legsegmented leg
Idea
Control of a Control of a segmented legsegmented leg
Control of a Control of a segmented legsegmented leg
Solutions
Seyfarth et al. (2001) Biol. Cybern.
• Biarticular Structures (e.g. Muscles)
• Geometric Constraints (e.g. Heel pad)
+
Control at Joint LevelControl at Joint Level
Where does the muscle activation
for periodic movements come
from?
Control at Joint LevelControl at Joint Level
P(t)
STIM(t)
Geyer et al. (2003) Proc.Roy.Soc.B.
Positive Force
Feedback
Control at Joint LevelControl at Joint Level
Part II Part II
GlobalGlobalLeg OperationLeg Operation
Control of Pedal Locomotionstance phase swing phase
axial required optional‘leg spring’ bended leg
rotatory optional requirede.g. hip torque protraction
retraction
energetic stabilization
kinematic stabilization
RunningRunning
Spring Mass Running Spring Mass Running
fixed angle of attack
fixed leg stiffness
Seyfarth et al. (2002) J. Biomechanics
Spring Mass Running Spring Mass Running
RETRACTION
Seyfarth et al. (2003) J. Exp. Biol.
Spring Mass Running Spring Mass Running
Running in Horizontal Running in Horizontal PlanePlane
Running in Horizontal Running in Horizontal PlanePlane
Gait TransitionGait Transition
Gait TransitionGait Transition
Gait TransitionGait Transition
Leg f
orc
e (
N)
Leg f
orc
e (
N)
time (samples)
Leg compression (m)
WALK
RUN
RUN
WALK
Experimental Results
Gait TransitionGait TransitionExperimental Results
Gait TransitionGait TransitionExperimental Results
Gait TransitionGait TransitionExperimental Results
Gait TransitionGait Transition
New Theory
Max. Speed Inv. Pendulum
Gait TransitionGait TransitionExperimental Results
WalkingWalking
Spring Mass Walking Spring Mass Walking
Spring Mass Walking Spring Mass Walking
Spring Mass Walking Spring Mass Walking
A B C
Ground Reaction Ground Reaction
ForcesForces
Part III Part III
ImplicationsImplications
Link to RoboticsLink to Robotics
Origin of MovementsOrigin of Movements
Neural Program
MechanicalBehavior
??
Link to RoboticsLink to Robotics
Tight-Control Relaxed Control
Link to RoboticsLink to Robotics
Hard-Control
Link to RoboticsLink to Robotics
Contribution of back movements to Contribution of back movements to locomotion?locomotion?
Link to RoboticsLink to Robotics
Contribution of back movements to Contribution of back movements to locomotion?locomotion?
Link to RehabilitationLink to Rehabilitation
Decentralized leg control during Decentralized leg control during locomotionlocomotion Elastic knee joint during stance Elastic knee joint during stance phase?phase?
Thank you!Thank you!
Locomotion Lab at Jena University