During the steady gait, humans stabilize their head around the vertical orientation. Although there are sensori-cognitive explanations for this phenomenon, its mechanical effect on the body dynamics remains unexplored. In this study, we take profit from the similarities that human steady gait shares with the locomotion of passive-dynamics robots. We introduce a simplified anthropometric 2D model to reproduce a broad walking dynamics. In a previous study, we showed heuristically that the presence of a stabilized head–neck system has a significant influence on the dynamics of walking. This article gives new insights that lead to understanding this mechanical effect. In particular, we introduce an original cart upper-body model that allows to better understand the mechanical interest of head stabilization when walking, and we study how this effect is sensitive to the choice of control parameters.
AlexanderRM (2005) Walking made simple. Science308(5718): 58–59.
2.
AndersonFCPandyMG (2001) Dynamic optimization of human walking. Journal of biomechanical engineering123(5): 381–390.
3.
ArmstrongHG (1988) Anthropometry and mass distribution for human analogues. Technical report, Aerospace Medical Research Lab, Wright-Patterson AFB, Ohio, USA.
4.
BenallegueMLaumondJP (2013) Metastability for high-dimensional walking systems on stochastically rough terrain. In: Robotics, Science and Systems.
5.
BenallegueMLaumondJPBerthozA (2013) Contribution of actuated head and trunk to passive walkers stabilization. In: ICRA, 2013, pp. 5638–5643.
6.
BerthozA (2002) The Brain’s Sense of Movement. Cambridge, MA: Harvard University Press.
7.
BoveMCourtineGSchieppatiM (2002) Neck muscle vibration and spatial orientation during stepping in place in humans. Journal of Neurophysiology88(5): 2232–2241.
8.
BylKTedrakeR (2009) Metastable walking machines. The International Journal of Robotics Research28(8): 1040–1064.
9.
ChevallereauCGrizzleJShihCL (2009) Asymptotically stable walking of a five-link underactuated 3-D bipedal robot. IEEE Robotics1(25): 37–50.
10.
CollinsSRuinaATedrakeRWisseM (2005) Efficient bipedal robots based on passive-dynamic walkers. Science307(5712): 1082–1085.
11.
CromwellRSchurterJSheltonSVoraS (2004) Head stabilization strategies in the sagittal plane during locomotor tasks. Physiotherapy Research International9(1): 33–42.
12.
CromwellRL (2003) Movement strategies for head stabilization during incline walking. Gait & Posture17(3): 246–253.
13.
CromwellRLNewtonRAForrestG (2002) Influence of vision on head stabilization strategies in older adults during walking. The Journals of Gerontology Series A: Biological Sciences and Medical Sciences57(7): M442–M448.
14.
CromwellRLWellmonRH (2001) Sagittal plane head stabilization during level walking and ambulation on stairs. Physiotherapy Research International6(3): 179–192.
15.
DelpSLLoanJPHoyMGZajacFEToppELRosenJM (1990) An interactive graphics-based model of the lower extremity to study orthopaedic surgical procedures. IEEE Transactions on Biomedical Engineering37(8): 757–767.
DonelanJMKramRKuoAD (2002) Mechanical work for step-to-step transitions is a major determinant of the metabolic cost of human walking. Journal of Experimental Biology205(23): 3717–3727.
18.
FarkhatdinovIMichalskaHBerthozAHaywardV (2019) Gravito-inertial ambiguity resolved through head stabilisation. Proceedings of Royal Society A Mathematical, Physical and Engineering Sciences, in press.
19.
GoswamiAEspiauBKeramaneA (1997) Limit cycles in a passive compass gait biped and passivity-mimicking control laws. Autonomous Robots4: 273–286.
20.
HerdmanSJClendanielR (2014) Vestibular Rehabilitation. FA Davis.
21.
HerdmanSJSchubertMCDasVETusaRJ (2003) Recovery of dynamic visual acuity in unilateral vestibular hypofunction. JAMA Otolaryngology – Head and Neck Surgery129(8): 819–824.
22.
HicheurHVieilledentSBerthozA (2005) Head motion in humans alternating between straight and curved walking path: Combination of stabilizing and anticipatory orienting mechanisms. Neuroscience Letters383: 87–92.
23.
HillAV (1953) The mechanics of active muscle. Proceedings of the Royal Society of London. Series B - Biological Sciences141(902): 104–117.
24.
HofALNautaJvan der KnaapERSchalligMAStruweDP (1992) Calf muscle work and segment energy changes in human treadmill walking. Journal of Electromyography and Kinesiology2(4): 203–216.
25.
KaddarBAoustinYChevallereauC (2015) Arm swing effects on walking bipedal gaits composed of impact, single and double support phases. Robotics and Autonomous Systems66: 104–115.
26.
LaumondJBenallegueMCarpentierJBerthozA (2017) The YoYo-Man. The International Journal of Robotics Research36(13–14): 1508–1520.
27.
LyOLapeyreMOudeyerPY (2011) Bio-inspired vertebral column, compliance and semi-passive dynamics in a lightweight humanoid robot. In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1465–1472.
28.
MatthisJSYatesJLHayhoeMM (2018) Gaze and the control of foot placement when walking in natural terrain. Current Biology28(8): 1224–1233.
29.
McGeerT (1990) Passive dynamic walking. The International Journal of Robotics Research9(2): 62–82.
30.
MeindersMGitterACzernieckiJ (1998) The role of ankle plantar flexor muscle work during walking. Scandinavian Journal of Rehabilitation Medicine30(1): 39–46.
31.
MombaurK (2009) Using optimization to create self-stable human-like running. Robotica27(3): 321–330.
32.
NadeauSAmblardBMesureSBourbonnaisD (2003) Head and trunk stabilization strategies during forward and backward walking in healthy adults. Gait and Posture18(3): 134–142.
33.
NeptuneRRKautzSAZajacFE (2001) Contributions of the individual ankle plantar flexors to support, forward progression and swing initiation during walking. Journal of Biomechanics34(11): 1387–1398.
34.
PozzoTBerthozALefortL (1990) Head stabilization during various locomotor tasks in humans. Experimental Brain Research82: 97–106.
35.
RoosPEDingwellJB (2011) Influence of simulated neuromuscular noise on the dynamic stability and fall risk of a 3D dynamic walking model. Journal of Biomechanics44(8): 1514–1520.
36.
SaurelGCarpentierJMansardNLaumondJP (2016) A simulation framework for simultaneous design and control of passivity based walkers. In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots SIMPAR, San Francisco, CA.
37.
SchubertMCHerdmanSJTusaRJ (2002) Vertical dynamic visual acuity in normal subjects and patients with vestibular hypofunction. Otology & Neurotology23(3): 372–377.
38.
SchubertMCMigliaccioAAClendanielRAAllakACareyJP (2008) Mechanism of dynamic visual acuity recovery with vestibular rehabilitation. Archives of Physical Medicine and Rehabilitation89(3): 500–507.
39.
SkalshøiOIversenCHNielsenDB, et al. (2015) Walking patterns and hip contact forces in patients with hip dysplasia. Gait and Posture42(4): 529–533.
40.
SmeestersCHayesWCMcMahonTA (2001) Disturbance type and gait speed affect fall direction and impact location. Journal of Biomechanics34(3): 309–317.
41.
StokellRYuAWilliamsKTreleavenJ (2011) Dynamic and functional balance tasks in subjects with persistent whiplash: A pilot trial. Manual Therapy16(4): 394–398.
42.
TakumaTOkuHAsagiNKaseW (2018) Design of vertebrae-inspired trunk mechanism for controlling walking behavior of semi-passive walker. Autonomous Robots42(6): 1249–1262.
43.
ThelenDGAndersonFC (2006) Using computed muscle control to generate forward dynamic simulations of human walking from experimental data. Journal of Biomechanics39(6): 1107–1115.
44.
TlaloliniDChevallereauCAoustinY (2011) Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion. IEEE/ASME Transactions on Mechatronics16(2): 310–320.
45.
TreleavenJ (2008) Sensorimotor disturbances in neck disorders affecting postural stability, head and eye movement control. Manual Therapy13(1): 2–11.
46.
VivianiPBerthozA (1975) Dynamics of the head-neck system in response to small perturbations: Analysis and modeling in the frequency domain. Biological Cybernetics19(1): 19–37.
47.
VuillermeNPinsaultNVaillantJ (2005) Postural control during quiet standing following cervical muscular fatigue: Effects of changes in sensory inputs. Neuroscience Letters378(3): 135–139.
48.
WieberPTedrakeRKuindersmaS (2015) Modeling and control of legged robots. In: Handbook of Robotics. 2nd Ed.New York: Springer.
49.
WinterDA (1983) Energy generation and absorption at the ankle and knee during fast, natural, and slow cadences. Clinical Orthopaedics and Related Research175: 147–154.
50.
WisseMHobbelenDRotteveelRAndersonSZeglinG (2006) Ankle springs instead of arc-shaped feet for passive dynamic walkers. In: IEEE-RAS Humanoids, pp. 110–116.
51.
WisseMVan der LindeRQ (2007) Delft Pneumatic Bipeds, Vol. 34. Springer Science & Business Media.
