Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Stéphane Armand, Andrea Di Russo, Auke Ijspeert, Dimitar Yuriev Stanev
2021
Journal paper

Abstract

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central Pattern Generators) feedforward oscillatory structures or to feedback reflex circuits. CPG-based models could replicate slow and fast walking by changing only the oscillation’s properties. On the other hand, reflex-based models could achieve different behaviors through optimizations of large dimensional parameter spaces. However, they could not effectively identify individual key reflex parameters responsible for gait characteristics’ modulation. This study investigates which reflex parameters modulate the gait characteristics through neuromechanical simulations. A recently developed reflex-based model is used to perform optimizations with different target behaviors on speed, step length, and step duration to analyze the correlation between reflex parameters and their influence on these gait characteristics. We identified nine key parameters that may affect the target speed ranging from slow to fast walking (0.48 and 1.71 m/s) as well as a large range of step lengths (0.43 and 0.88 m) and step duration (0.51, 0.98 s). The findings show that specific reflexes during stance significantly affect step length regulation, mainly given by positive force feedback of the ankle plantarflexors’ group. On the other hand, stretch reflexes active during swing of iliopsoas and gluteus maximus regulate all the gait characteristics under analysis. Additionally, the results show that the hamstrings’ group’s stretch reflex during the landing phase is responsible for modulating the step length and step duration. Additional validation studies in simulations demonstrated that the modulation of identified reflexes is sufficient to regulate the investigated gait characteristics. Thus, this study provides an overview of possible reflexes involved in modulating speed, step length, and step duration of human gaits.

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Stéphane Armand, Andrea Di Russo, Auke Ijspeert, Dimitar Yuriev Stanev
2021
Journal paper

Abstract

Official source

https://infoscience.epfl.ch/record/287206?ln=en

About this result

Related concepts (20)

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EPFL2013

Rich and Robust Bio-Inspired Locomotion Control for Humanoid Robots

Nicolas Benoît Dominique Van der Noot

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EPFL2017

Several psychobiological factors are associated with vulnerability/resilience to stress-induced depression. Emerging evidence indicates behavioral traits, such as anxiety, can be related to depression-like symptoms after exposure to chronic stress. However, single traits cannot explain the variability observed in individual's vulnerability to stress, highlighting that a combination of behavioral traits might provide a better characterization of the individual's vulnerability to development of depression following prolonged stress. Hippocampal neurogenesis has been highlighted as a cellular mechanism involved in the reduction on hippocampal volume under conditions of stress and depression, suggesting that a lack of new cells and connections may underlie the cognitive and emotional symptoms of mood disorders, and modulating neurogenesis is regarded as a target/mechanism for antidepressants actions. 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We hypothesize here an essential role of the amygdala on depression and antidepressant actions based on the implication of the basolateral complex (BLA) in emotional arousal and stress-induced modulation of cognitive processes, and on recent data showing activation of corticotropin releasing factor receptors (CRFR1) as a substrate for stress-induced alterations. Interestingly, alterations in the functional connectivity between the amygdala, the hippocampus and frontal areas have been identified in individuals with genetic vulnerability to depression. Looking for such psychobiological interactions is particularly important today because of increasingly incidence of depression and stress related disorders'. Identifying and understanding psychobiological vulnerability to stress is crucial for best oriented and more effective prevention and intervention strategies. 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