Modeling of human gait control using CPGs

Abstract : In this paper, a way of controlling musculoskeletal gait of human using central pattern generators (CPG) is presented. Our controller is able to produce healthy or altered gait in sagittal plane using musculoskeletal model with six joints and sixteen muscles. Controller consists of eight CPGs and it uses five types of sensory feedback. Simulation results in Matlab shows that changing intrinsic parameters of CPGs, model produces different types of gait.
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Andrii Shachykov, Patrick Henaff, Alexander Shulyak. Modeling of human gait control using CPGs. JNRH 2018 - Journées Nationales de la Robotique Humanoïde, Jun 2018, Nancy, France. ⟨hal-02006019⟩

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