Abstract
The dynamics of postural control in human biped locomotion were studied using(1) a model, and(2) experimentally applied impulsive force disturbances. The model was planar, and contained five rigid segments, articulating at frictionless pin joints. The model was used to identify joint torque combinations which would successfully correct for an impulsive force disturbance applied at different points in the walking cycle. The simulation results suggested that(1) early responses (within 80ms) can be effective in compensating for impulsive disturbances,(2) the same strategies which successfully counteract similar disturbances during quiet standing are also effective in certain phases of the walking cycle,(3) modifications in the response strategies are needed to accomodate differences in the dynamics over the stride cycle, and(4) the swing leg is ineffective in compensating for disturbances in the short term. These model predictions were tested experimentally. Subject responses to an impulsive force disturbance applied during walking were studied. The electromyographic results generally support the model predictions.
Similar content being viewed by others
References
Belanger M, Patla AE (1984) Corrective responses to perturbation applied during walking in humans. Neurosci Lett 49:291–295
Berger W, Dietz V, Quintern J (1984) Corrective reactions to stumbling in man: neuronal co-ordination of bilateral leg muscle activity during gait. J Physiol 357:109–125
Bresler B, Frankel JP (1950) The forces and moments in the leg during level walking. Trans ASME 72:27–36
Capaday C, Stein RB (1986) Amplitude modulation of the soleus H-reflex in the human during walking and standing. J Neurosci 6:1308–1313
Frigo C, Pedotti A (1978) Determination of muscle length during locomotion. In: Asmussen E, Jorgensen K (eds) Biomechanics VI-A. University Park Press, Baltimore, pp 355–360
James ML, Smith GM, Wolford JC (1985) Applied numerical methods for digital computation. Harper and Row, New York, pp 461–463
Nashner LM (1980) Balance adjustments of humans perturbed while walking. J Neurophysiol 44:650–664
Nashner LM (1982) Adaptation of human movement to altered environments. Trends Neurosci 5:358–361
Onyshko S, Winter DA (1980) A mathematical model for the dynamics of human locomotion. J Biomech 13:316–368
Winter DA (1987) Sagittal plane balance and posture in human walking. IEEE Eng Med Biol 6:8–11
Winter DA, Robertson DGE (1978) Joint torque and energy patterns in normal gait. Biol Cybern 29:137–142
Yang JF (1987) Biomechanical strategies in postural control in standing and walking. Ph. D. Thesis, University of Waterloo, Waterloo, Ontario, Canada
Yang JF, Winter DA, Wells RP (1990) Postural dynamics in the standing human. Biol Cybern 62:309–320
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Yang, J.F., Winter, D.A. & Wells, R.P. Postural dynamics of walking in humans. Biol. Cybern. 62, 321–330 (1990). https://doi.org/10.1007/BF00201446
Received:
Accepted:
Issue Date:
DOI: https://doi.org/10.1007/BF00201446