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タイトル	en Phase Dynamics on the Modified Oscillators in Bipedal Locomotion
作成者	en Weng, Wulin ja 翁, 武淋 所属 en Graduate School of Mathematics, Kyushu University ja 九州大学大学院数理学府
アクセス権	open access
内容注記	Abstract en Based on neurophysiological evidence, the theoretical studies by Taga et al. [1] has demonstrated that bipedal walking can be generated by mutual entrainment between of oscillations of a central pattern generator (CPG) [2] and a musculoskeletal system (Body). For motor control, time delay of signal transmission in sensorimotor loop cause serious problem in general. It is well known that the loop time delay of human locomotion system is very long [3]. How human overcomes the loop time delay becomes a large problem. Taga [3] has also reported that even a short time delay in a sensorimotor loop between CPG and Body causes the system walking to fall. On the other hand, Ohgane et al. [4] have found that the walking model can be overcome loop time delays by an emergent adaptive phenomenon. They called it "flexible phase locking", in which the phase of CPG activities forward shifts according to an interval of loop time delay. Flexible phase locking has been induced by modification of the walking model. The main point of the modification was replacement of neuron model for composing CPG. In Ohgane et al. [4], harmonic oscillators [1] have been replaced by BVP neuron model which is known as physiologically faithful neuron model. The mechanisms for causing flexible phase locking are interesting for motor control or neuroscience. Simplify the waking models and analyze the simplified walking model, theoretical studies [5] have argued that one of the mechanisms for causing flexible phase locking is limit cycle of CPG activity. However, the simplification has been based on only a few characteristics of the walking model and conveniences for analysis. That is, the simplified model has been not described by reduction of the walking model. Whether the mechanisms gained by the simplified model have an universality in human locomotion phenomena or not becomes an open question. That is, whether the mechanisms induce flexible phase locking in human locomotion model or not is an important problem. This study direct toward its confirmation. In this study, we investigate validity of limit cycle as a mechanism of flexible phase locking in human walking model. Replacing description of the CPG with it of other limit cycle oscillator, we observe phase shift behaviors.
出版者	ja 九州大学マス・フォア・インダストリ研究所 en Institute of Mathematics for Industry, Kyushu University
日付	Issued2013-10-21
言語	eng
資源タイプ	research report
出版タイプ	VoR
資源識別子	HDL https://hdl.handle.net/2324/1430824
関連	en MI lecture note series || 50 || p21-26 ja http://www.imi.kyushu-u.ac.jp/ ja https://www.math.kyushu-u.ac.jp/
収録誌情報	PISSN 2188-1200 NCID AA12653313 ja MI lecture note series en MI lecture note series 巻50 開始ページ21 終了ページ26
ファイル	p021.pdf 716KB (application/pdf) Available2014-03-10
コンテンツ更新日時	2023-12-20