Abstract
This paper describes a human gait simulation system with a precise neuro-musculo-skeletal model. The neuro-musculo-skeletal model incorporates 14 rigid bodies, 19 degrees of freedom, 60 muscular models, 16 pairs of the neural oscillators, and other neuronal systems. The proposed simulation system is computed based on forward dynamics, and takes not only kinematic data but also in vivo dynamic data such as energy consumption information into consideration, so that the resultant locomotion patterns are natural and valid from a biomechanical point of view. By changing the search parameters and the evaluative criteria of the numerical search method, various locomotive patterns such as normal gait, pathological gait, and running can be synthesized. The model can also realize stable walking patterns against a mechanical disturbance. This capability creates a novel application of human gait simulation systems, such as rehabilitation tool design and consultation for physically handicapped people.
