The basin of entrainment of human gait under mechanical perturbation
- Ahn, Jooeun; Hogan, Neville
- Issue Date
- ASME 2008 Dynamic Systems and Control Conference, pp. 477-479
- The basin of entrainment of human gait under mechanical perturbation; 공학; Torque; Engines; Robots; Robotics; Cycles; Patient treatment; Nervous system
- Using Anklebot, a therapeutic robot module, we perturbed human gait by applying external torque to the human ankle at various frequencies. We observed that with a properly designed perturbation, 8 subjects out of 10 exhibited entrained gaits: their gait frequencies were adapted to the frequency of mechanical perturbation, and they synchronized their ankle actuation with the external torque supplied by the robot. This preliminary result suggests that a limit-cycle oscillator, a plausible element of the coupled system of central nervous system and musculo-skeletal periphery, plays a significant role in the neuro-motor execution of human locomotion. The entrainment of human gait by periodic torque from a robotic aid may provide a novel approach to walking therapy that is uniquely supportive of normal biological function.
- Files in This Item: There are no files associated with this item.