Title :
Anticipatory control for safe foot trajectories during gait
Author :
McFadyen, Bradford J. ; Winter, David A.
Author_Institution :
Dept. of Kinesiology, Waterloo Univ., Ont., Canada
Abstract :
One of the goals of human walking is to produce safe foot trajectories which end in gentle foot placements. The authors present a computer simulation that uses internal models and feedforward control laws to explain anticipatory behavior exhibited by subjects during obstructed walking. A hierarchical structure allows present mechanical behavior to be adapted in advance of future mechanical requirements while precompensating for certain system delays.<>
Keywords :
biocontrol; biomechanics; digital simulation; physiological models; position control; anticipatory control; computer simulation; feedforward control laws; gait; gentle foot placements; hierarchical structure; human walking; internal models; mechanical behavior; obstructed walking; safe foot trajectories; system delay precompensation;
Conference_Titel :
Engineering in Medicine and Biology Society, 1988. Proceedings of the Annual International Conference of the IEEE
Conference_Location :
New Orleans, LA, USA
Print_ISBN :
0-7803-0785-2
DOI :
10.1109/IEMBS.1988.94781
