Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators

T. J.H. Brug*, F. Dzeladini, Amy R. Wu, A.J. IJspeert

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

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    Abstract

    A neuromuscular model (NMC) presented by H. Geyer and extended by S. Song shows very interesting similarities with real human locomotion. The model uses a combination of reflex loops to generate stable locomotion and is able to cope with external disturbances and adapt to different conditions. However, to our knowledge no works exist on the capability of the model to handle sensory noise. In this paper, we present a method for designing Central Pattern Generators (CPG) as feedback predictors, which can be used to handle large amount of sensory noise. We show that the whole system (NMC, +, CPG) is able to cope with a very large amount of noise, much larger than what the original system (NMC) could handle.

    Original languageEnglish
    Title of host publicationConverging Clinical and Engineering Research on Neurorehabilitation II
    Subtitle of host publicationProceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain
    EditorsJaime Ibanez, Jose Gonzales-Vargas, Jose Maria Azorin, Metin Akay, Jose Luis Pons
    PublisherSpringer
    Pages633-637
    Number of pages5
    ISBN (Electronic)978-3-319-46669-9
    ISBN (Print)978-3-319-46668-2
    DOIs
    Publication statusPublished - 2017
    Event3rd International Conference on NeuroRehabilitation (ICNR2016): Converging Clinical and Engineering Research on Neurorehabilitation II - Centro de Congresos y Convenciones Guardia de Corps, Segovia, Spain
    Duration: 18 Oct 201621 Oct 2016
    Conference number: 3
    http://www.icnr2016.org/

    Publication series

    NameBiosystems and Biorobotics
    Volume15
    ISSN (Print)21953562
    ISSN (Electronic)21953570

    Conference

    Conference3rd International Conference on NeuroRehabilitation (ICNR2016)
    Abbreviated titleICNR2016
    CountrySpain
    CitySegovia
    Period18/10/1621/10/16
    Internet address

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