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

doi:10.1007/978-3-319-46669-9_104

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 proceeding › Conference contribution › Academic › peer-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 language	English
Title of host publication	Converging Clinical and Engineering Research on Neurorehabilitation II
Subtitle of host publication	Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain
Editors	Jaime Ibanez, Jose Gonzales-Vargas, Jose Maria Azorin, Metin Akay, Jose Luis Pons
Publisher	Springer
Pages	633-637
Number of pages	5
ISBN (Electronic)	978-3-319-46669-9
ISBN (Print)	978-3-319-46668-2
DOIs	https://doi.org/10.1007/978-3-319-46669-9_104
Publication status	Published - 2017
Event	3rd 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 2016 → 21 Oct 2016 Conference number: 3 http://www.icnr2016.org/

Publication series

Name	Biosystems and Biorobotics
Volume	15
ISSN (Print)	21953562
ISSN (Electronic)	21953570

Conference

Conference	3rd International Conference on NeuroRehabilitation (ICNR2016)
Abbreviated title	ICNR2016
Country	Spain
City	Segovia
Period	18/10/16 → 21/10/16
Internet address	http://www.icnr2016.org/

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10.1007/978-3-319-46669-9_104

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Brug, T. J. H., Dzeladini, F., Wu, A. R., & IJspeert, A. J. (2017). Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators. In J. Ibanez, J. Gonzales-Vargas, J. M. Azorin, M. Akay, & J. L. Pons (Eds.), Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain (pp. 633-637). (Biosystems and Biorobotics; Vol. 15). Springer. https://doi.org/10.1007/978-3-319-46669-9_104

Brug, T. J.H. ; Dzeladini, F. ; Wu, Amy R. ; IJspeert, A.J. / Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators. Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain. editor / Jaime Ibanez ; Jose Gonzales-Vargas ; Jose Maria Azorin ; Metin Akay ; Jose Luis Pons. Springer, 2017. pp. 633-637 (Biosystems and Biorobotics).

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title = "Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators",

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.",

author = "Brug, {T. J.H.} and F. Dzeladini and Wu, {Amy R.} and A.J. IJspeert",

year = "2017",

doi = "10.1007/978-3-319-46669-9_104",

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booktitle = "Converging Clinical and Engineering Research on Neurorehabilitation II",

note = "3rd International Conference on NeuroRehabilitation (ICNR2016) : Converging Clinical and Engineering Research on Neurorehabilitation II, ICNR2016 ; Conference date: 18-10-2016 Through 21-10-2016",

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Brug, TJH, Dzeladini, F, Wu, AR & IJspeert, AJ 2017, Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators. in J Ibanez, J Gonzales-Vargas, JM Azorin, M Akay & JL Pons (eds), Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain. Biosystems and Biorobotics, vol. 15, Springer, pp. 633-637, 3rd International Conference on NeuroRehabilitation (ICNR2016), Segovia, Spain, 18/10/16. https://doi.org/10.1007/978-3-319-46669-9_104

Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators. / Brug, T. J.H.; Dzeladini, F.; Wu, Amy R.; IJspeert, A.J.

Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain. ed. / Jaime Ibanez; Jose Gonzales-Vargas; Jose Maria Azorin; Metin Akay; Jose Luis Pons. Springer, 2017. p. 633-637 (Biosystems and Biorobotics; Vol. 15).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Brug, T. J.H.

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AU - IJspeert, A.J.

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AB - 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.

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Brug TJH, Dzeladini F, Wu AR, IJspeert AJ. Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators. In Ibanez J, Gonzales-Vargas J, Azorin JM, Akay M, Pons JL, editors, Converging Clinical and Engineering Research on Neurorehabilitation II: Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain. Springer. 2017. p. 633-637. (Biosystems and Biorobotics). https://doi.org/10.1007/978-3-319-46669-9_104