Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator

Andrii Dmytrovych Shachykov (1, 2, 3, 4) , Oleksandr Shuliak (3) , Patrick Henaff (2, 1, 5, 4)

1 UL - Université de Lorraine
2 LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
3 National Technical University of Ukraine "Kyiv Polytechnic Institute" [Kiev]
4 NEUROSYS - Analysis and modeling of neural systems by a system neuroscience approach
5 CNRS - Centre National de la Recherche Scientifique

In this paper, a new neuro-musculoskeletal gait simulation platform is presented. This platform is developed to reproduce healthy or altered walking gaits. It is based on an original model of central pattern generator able to generate variable rhythmic signals for controlling biological human leg joints. Output signals of motoneurons are applied to excitation inputs of modelled muscles of the human lower limbs model. Eight central pattern generators control a musculoskeletal model made up of three joints per leg actuated by 44 Hill-type muscle models. Forward dynamics simulation in OpenSim show that it is possible to generate different stable walking gaits by changing parameters of controller. Further work is aimed on development of stable human standing by implementing reflexes.

Mots clés: human walking; OpenSim; central pattern generator; musculoskeletal model

Domaines: Ingénierie, finance et science [cs.CE]

Andrii Dmytrovych Shachykov, Oleksandr Shuliak, Patrick Henaff. Closed-loop Central Pattern Generator Control of Human Gaits in OpenSim Simulator. IJCNN 2019 - International Joint Conference on Neural Networks, Jul 2019, Budapest, Hungary. ⟨hal-02309658⟩