ArticleJournal of the Royal Society, Interface2019
A controller for walking derived from how humans recover from perturbations.
Article in Journal of the Royal Society, Interface, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 27 papers, 1 of them a synthesis that pooled it.
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Who cites it
27 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Methods for integrating postural control into biomechanical human simulations: a systematic review.Journal of neuroengineering and rehabilitation · 2023Pooled it
- A modeling approach to understanding poor stability in people with vestibular hypofunction.Journal of biomechanics · 2026Article
- An open-source application for applying rapid transient perturbations using a split-belt treadmill.bioRxiv : the preprint server for biology · 2026Article
- Center of mass feedback for joint torque control during perturbed standing: a potential generalizable control approach for balance augmentation in wearable robots.Journal of neuroengineering and rehabilitation · 2026Article
- Center of Mass Feedback for joint torque control: a generalizable approach for balance augmentation in wearable robots.Research square · 2026Article
- An Active Spring Mass Model With Biomimetic Ground Reaction Forces for Multiple Terrains.IEEE transactions on bio-medical engineering · 2026Article
- Natural variability can increase human walking metabolic costs and its implications to simulation-based metabolic estimation.Journal of the Royal Society, Interface · 2025Article
- Foot placement control underlies stable locomotion across species.Proceedings of the National Academy of Sciences of the United States of America · 2025Article
- James-Stein Estimator Improves Accuracy and Sample Efficiency in Human Kinematic and Metabolic Data.Annals of biomedical engineering · 2025Article
- Detecting artificially impaired balance in human locomotion: metrics, perturbation effects and detection thresholds.The Journal of experimental biology · 2025Article
- Modelling strategies supplemental to foot placement for frontal-plane stability in walking.Journal of the Royal Society, Interface · 2024Article
- Generalizability of foot placement control strategies during unperturbed and perturbed gait.Royal Society open science · 2024Article
- Tapping into the human spinal locomotor centres with transspinal stimulation.Scientific reports · 2024Article
- The condition for dynamic stability in humans walking with feedback control.PLoS computational biology · 2024Article
- Tapping Into the Human Spinal Locomotor Centres With Transspinal Stimulation.Research square · 2024Article
- Walking speeds are lower for short distance and turning locomotion: Experiments and modeling in low-cost prosthesis users.PloS one · 2024Article
- Simulating the effect of ankle plantarflexion and inversion-eversion exoskeleton torques on center of mass kinematics during walking.PLoS computational biology · 2023Article
- Linking whole-body angular momentum and step placement during perturbed human walking.The Journal of experimental biology · 2023Article
- Exoskeletons need to react faster than physiological responses to improve standing balance.Science robotics · 2023Article
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Corrections and comments
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Authors and funding
2 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Humans can walk without falling despite some external perturbations, but the control mechanisms by which this stability is achieved have not been fully characterized. While numerous walking simulations and robots have been constructed, no full-state walking controller for even a simple model of walking has been derived from human walking data. Here, to construct such a feedback controller, we applied thousands of unforeseen perturbations to subjects walking on a treadmill and collected data describing their recovery to normal walking. Using these data, we derived a linear controller to make the classical inverted pendulum model of walking respond to perturbations like a human. The walking model consists of a point-mass with two massless legs and can be controlled only through the appropriate placement of the foot and the push-off impulse applied along the trailing leg. We derived how this foot placement and push-off impulse are modulated in response to upper-body perturbations in various directions. This feedback-controlled biped recovers from perturbations in a manner qualitatively similar to human recovery. The biped can recover from perturbations over twenty times larger than deviations experienced during normal walking and the biped's stability is robust to uncertainties, specifically, large changes in body and feedback parameters.
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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.