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

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Wearable Robotics: Challenges and Trends (WeRob 2018)

Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 22))

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Abstract

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.

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Acknowledgment

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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Correspondence to Andre Seyfarth .

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Seyfarth, A., Sharbafi, M.A., Zhao, G., Schumacher, C. (2019). Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps. In: Carrozza, M., Micera, S., Pons, J. (eds) Wearable Robotics: Challenges and Trends. WeRob 2018. Biosystems & Biorobotics, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-030-01887-0_65

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  • DOI: https://doi.org/10.1007/978-3-030-01887-0_65

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-01886-3

  • Online ISBN: 978-3-030-01887-0

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