Generalization of a Muscle-Reflex Control Model to 3D Walking

Abstract

The neural controller that generates human locomotion can currently not be measured directly, and researchers
often resort to forward dynamic simulations of the human
neuromuscular system to propose and test different controller
architectures. However, most of these models are restricted to
locomotion in the sagittal plane, which limits the ability to study
and compare proposed neural controls for 3D-related motions.
Here we generalize a previously identified reflex control model
for sagittal plane walking to 3D locomotion. The generalization
includes additional degrees of freedom at the hips in the lateral
plane, their actuation and control by hip abductor and adductor
muscles, and 3D compliant ground contact dynamics. The
resulting 3D model of human locomotion generates normal
walking while producing human-like ground reaction forces
and moments, indicating that the proposed neural controller
based on muscle reflexes generalizes well to 3D locomotion.