抄録
How humans solve the ill-posed problem of motor control is still unclear. In this paper, we attempt to decompose human slope walking into units of motor function, which are expressed as patterns of muscle coordination. We introduce the key concept of the agonist-antagonist muscle pairs (A-A) ratio, defined as the ratio of an extensor muscle's EMG signal to the sum of agonist and antagonist muscles' EMG signals. Human slope walking can be decomposed into three patterns of muscle coordination associated with kinematics by applying Principal Component Analysis to the A-A ratio dataset. The kinematic meanings of these patterns of muscle coordination are shown by transferring them into a musculoskeletal leg robot.
