Document Detail

Energy efficient and robust rhythmic limb movement by central pattern generators.
MedLine Citation:
PMID:  16352419     Owner:  NLM     Status:  MEDLINE    
Humans show great energy efficiency and robustness in rhythmic tasks, such as walking and arm swinging. In this study a mathematical model of rhythmic limb movement is presented, which shows that tight local coupling of Central Pattern Generators (CPGs) to limbs could explain part of this behavior. Afferent feedback to flexor and extensor centers of the CPG is crucial in providing energy efficiency by means of resonance tuning. Feedback of positional information provides resonance tuning above the endogenous frequency of the CPG. Integral feedback provides resonance tuning at and below the endogenous frequency. Feedback of velocity information is necessary to compensate for the time delay in the loop, coupling limb to CPG; without velocity feedback bi-stability occurs and resonance tuning is not possible at high movement frequencies. The concepts of energy efficient and robust control of rhythmic limb movements are also applicable to robotics. It is the first CPG model, which provides resonance tuning at natural limb frequencies above and below its endogenous frequency.
B W Verdaasdonk; H F J M Koopman; F C T Van Der Helm
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Publication Detail:
Type:  Comparative Study; Journal Article     Date:  2005-12-13
Journal Detail:
Title:  Neural networks : the official journal of the International Neural Network Society     Volume:  19     ISSN:  0893-6080     ISO Abbreviation:  Neural Netw     Publication Date:  2006 May 
Date Detail:
Created Date:  2006-06-13     Completed Date:  2006-09-05     Revised Date:  2006-11-15    
Medline Journal Info:
Nlm Unique ID:  8805018     Medline TA:  Neural Netw     Country:  United States    
Other Details:
Languages:  eng     Pagination:  388-400     Citation Subset:  IM    
Department of Bio-mechanical Engineering, Faculty of Engineering Technology, University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands.
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MeSH Terms
Brain / physiology*
Energy Metabolism / physiology*
Extremities* / innervation
Feedback / physiology
Models, Biological*
Movement / physiology*
Spectrum Analysis

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine

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