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Neuro-musculoskeletal Simulator of Human Rhythmic Movements

Abstract : In this article, a new neuro-musculoskeletal simulator of human rhythmic movements is presented. It is based on a specific model of central pattern generator able to generate variable rhythmic signals for controlling a biological joint by changing its intrinsic parameters from upper controller. The CPG consists of three layers and four types of neurons and controls human leg hip joint. Its output signals generated by motoneurons are applied to excitation inputs of two modelled muscles of the human hip. The variation CPG speed showed short transition process with stabilization on two leg motions in swing phase. Phase diagram of hip joint angle showed stable movement as stabilization on single trajectory. Further work is aimed on development of stable human gait by applying CPG for each leg muscle.
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Contributor : Andrii Shachykov <>
Submitted on : Wednesday, May 23, 2018 - 4:36:22 PM
Last modification on : Monday, July 22, 2019 - 12:26:01 PM
Long-term archiving on: : Friday, August 24, 2018 - 9:53:15 PM


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  • HAL Id : hal-01798629, version 1



Andrii Shachykov, Patrick Henaff, Anton Popov, Olexandr Shulyak. Neuro-musculoskeletal Simulator of Human Rhythmic Movements. UKRCON 2017 - IEEE First Ukraine Conference on Electrical and Computer Engineering, May 2017, Kyiv, Ukraine. ⟨hal-01798629⟩



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