Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps

  • Andre SeyfarthEmail author
  • Maziar A. Sharbafi
  • Guoping Zhao
  • Christian Schumacher
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


Human locomotion is a complex movement task, which can be divided into a set of locomotor subfunctions. These subfunction comprise stance leg function, swing leg function and balance. Each of these locomotor subfunctions requires a specific control of individual muscles in the human body. We propose a novel method based on sensor-motor-maps to identify the appropriate motor control settings based on sensory feedback loops. Based on template models, both the biomechanical as well as the neuromuscular dynamics of gait can be studies and described at different levels of detail.


Subfunctions Complex Movement Tasks Sensory Feedback Loops Neuromuscular Dynamics Spring-loaded Inverted Pendulum Model 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This research was supported by the EU FP7 project BALANCE and by the DFG grants awarded to A.S. and M.A.S. (SE1042/6, SE1042/8, SE1042/31 and AH 307/2-1).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Andre Seyfarth
    • 1
    Email author
  • Maziar A. Sharbafi
    • 1
  • Guoping Zhao
    • 1
  • Christian Schumacher
    • 1
  1. 1.Lauflabor Locomotion LaboratoryTechnische Universität DarmstadtDarmstadtGermany

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