Using Anklebot, a therapeutic robot module, we perturbed human gait by applying external torque to the human ankle at various frequencies. We observed that with a properly designed perturbation, 8 subjects out of 10 exhibited entrained gaits: their gait frequencies were adapted to the frequency of mechanical perturbation, and they synchronized their ankle actuation with the external torque supplied by the robot. This preliminary result suggests that a limit-cycle oscillator, a plausible element of the coupled system of central nervous system and musculo-skeletal periphery, plays a significant role in the neuro-motor execution of human locomotion. The entrainment of human gait by periodic torque from a robotic aid may provide a novel approach to walking therapy that is uniquely supportive of normal biological function.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
The Basin of Entrainment of Human Gait Under Mechanical Perturbation
Jooeun Ahn
,
Jooeun Ahn
Massachusetts Institute of Technology, Cambridge, MA
Search for other works by this author on:
Neville Hogan
Neville Hogan
Massachusetts Institute of Technology, Cambridge, MA
Search for other works by this author on:
Jooeun Ahn
Massachusetts Institute of Technology, Cambridge, MA
Neville Hogan
Massachusetts Institute of Technology, Cambridge, MA
Paper No:
DSCC2008-2168, pp. 477-479; 3 pages
Published Online:
June 29, 2009
Citation
Ahn, J, & Hogan, N. "The Basin of Entrainment of Human Gait Under Mechanical Perturbation." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 477-479. ASME. https://doi.org/10.1115/DSCC2008-2168
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