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Grasso et al. (1998) proposed the hypothesis that motor commands for the backward walking is designed so as to reproduce the reversal motion of forward walking. In this study, we analyzed the leg joint synergy in backward walking by the UCM analysis and compared the results with the time reversal profile of the synergy in forward walking. Some similarities between them were observed, e.g., the body...
Although leg joint trajectories during human walking show variance in each step it has been reported that the variance of the toe position is suppressed by joint synergy at some critical points to realize stable walking, e.g., at the moment when the toe passes through the nearest position from the ground during leg swing. Is such joint synergy generated by the central nervous system (CNS) or by the...
What kind of leg trajectories are selected during human walking? To address this question, we have analyzed leg trajectories from two points of view: constraint and exploitation of redundant degrees of freedom. First, we computed the optimal leg swing trajectories for forward and backward walking that minimize energy cost for the condition of having some stretch of elastic components at the beginning...
We analyzed bipedal locomotion of Japanese macaques from the view point of leg joint synergy by the UCM (Uncontrolled manifold) analysis in order to examine how and when hip, knee and ankle joints cooperate so as to suppress the variances of the toe position relative to the hip position. Our results showed that joint synergy is exploited at some moments during walking. For instance, the variance of...
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