CUED Publications database

Stretch reflex improves rolling stability during hopping of a decerebrate biped system.

Rosendo, A and Liu, X and Shimizu, M and Hosoda, K (2015) Stretch reflex improves rolling stability during hopping of a decerebrate biped system. Bioinspir Biomim, 10. 016008-.

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Abstract

When humans hop, attitude recovery can be observed in both the sagittal and frontal planes. While it is agreed that the brain plays an important role in leg placement, the role of low-level feedback (the stretch reflex) on frontal plane stabilization remains unclear. Seeking to better understand the contribution of the soleus stretch reflex to rolling stability, we performed experiments on a biomimetic humanoid hopping robot. Various reflex responses to touching the floor, ranging from no response to long muscle activations, were examined, and the effect of a delay upon touching the floor was also examined. We found that the stretch reflex brought the system closer to stable, straight hopping. The presence of a delay did not affect the results; both the cases with and without a delay outperformed the case without a reflex response. The results of this study highlight the importance of low-level control in locomotion for which body stabilization does not require higher-level signals.

Item Type: Article
Uncontrolled Keywords: Biomimetics Decerebrate State Equipment Design Equipment Failure Analysis Feedback Feedback, Physiological Gait Humans Muscle Contraction Muscle, Skeletal Postural Balance Reflex, Stretch Robotics Task Performance and Analysis
Subjects: UNSPECIFIED
Divisions: Div F > Machine Intelligence
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:09
Last Modified: 07 Sep 2017 01:48
DOI: