Synthesis
Computer Simulation of Human Walking
using a Three-Dimensional Neuro-Musculo-Skeletal Model
The purpose of this project is to develop a computer simulation
model synthesizing human walking. The simulation study is expected
to provide computational experimental conditions that are difficult
to realize in actual humans.
The above figure shows the outline of the computer simulation
model for walking. We call it a neuro-musculo-skeletal model.
The inertial properties of the body are represented by a 14-rigid-link
system. The musculo-skeletal system is constructed three-dimensionally
and incorporates 41 muscles for the whole body. The neuronal
system has a hierarchical structure that consists of a higher
center model for adjusting locomotion patterns, a spinal cord
model generating the basic rhythms of walking, and a peripheral
model generating neuronal stimuli in each muscle.
-
- Normal
walking
- QuickTime
Movie (369KB)
The above figure shows the generated normal walking pattern.
Click on it to see the animated walking QuickTime Movie. The
simulated walking motion is consistent with that of actual humans
in terms of not just kinematic data such as joint angles, but
also with respect to muscular tension and energy consumption.
It also enables stable gait despite mechanical disturbances,
such as a pulse-like external force at the pelvic segment.
The three-dimensional walking model is also able to generate
pathological gait patterns, including asymmetrical motions as
shown in the above figure. Running motion at 4 m/sec can also
be synthesized. By clicking on the above figures, you can see
the respective QuickTime Movie animations.
My current interest in this research project is the application
of our model to rehabilitation engineering to re-enable walking.
I plan to identify mechanisms contributing to lack of balance
and stability in the walking motions of older adults and to predict
electrical stimulation patterns for FES gait by using the proposed
simulation model.
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Computer Simulation of Human Gait
for Anthropological Studies
I previously analyzed the developmental process of human infant
gait and the evolutionary process of human walking by using a
computer simulation model.
The figure on the above left shows the simulation results
of walking using various body-size models from a twelve month-old
infant to a twenty-two year-old adult. The figure on the above
right shows the results of a simulation in which a human ancestor,
modeled starting from the gait and body shape of the chimpanzee,
evolved and achieved the locomotion and body shape of the modern
human. To elucidate the relationship between body motion and
body structure, including such problems as human development
and evolution, is extremely difficult or impossible using experiments
conducted with actual humans. Therefore, I expect that simulation
methods such as that outlined in this study will contribute to
overcoming the limits hindering current experimental methods.
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Computer Simulation of Daily-Life
Motion
The walking simulation models that I described above were
able to generate only periodic motions, such as walking, since
their control models were constructed based on neural oscillators.
As our next project, we plan to develop a computer simulation
method to generate various daily-life motions, such as rising
from a seated position, as well as more complex motions.
The above figure shows the standing and pulling motions generated
by the simulation method based on the inverse dynamics model
that we are proposing. We currently think that a novel approach
is necessary to synthesize various human movement. This is one
of our future projects.
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References
English Publications
- Hase, K., Yamazaki, N.: Computer simulation study of human locomotion with
a three-dimensional entire-body neuro-musculo-skeletal model. I. Acquisition
of normal walking, JSME International Journal, Series C, 45, 4, (2002),
1040-1050.
- Hase, K., Obinata, G.: Computer simulation study of human
locomotion with a three-dimensional entire-body neuro-musculo-skeletal model.
II. Biomechanical relationship between walking stability and
neuro-musculo-skeletal system, JSME International Journal, Series C, 45, 4,
(2002), 1051-1057.
- Hase, K., Obuchi, S.: Computer simulation study of human locomotion with a
three-dimensional entire-body neuro-musculo-skeletal model. III. Simulation of
pathological walking and its application to rehabilitation engineering, JSME
International Journal, Series C, 45, 4, (2002), 1058-1064.
- Hase, K., Yokoi, T.: Computer simulation study of human locomotion with a
three-dimensional entire-body neuro-musculo-skeletal model. IV. Simulation of
running motion and its transition process, JSME International Journal, Series
C, 45, 4, (2002), 1065-1072.
- Hase, K.: Computational rehabilitation engineering with a
human walking model, In: Kajzer, J., Tanaka, E., Yamada, H. (eds):
Human Biomechanics and Injury Prevention, Springer-Verlag, Tokyo,
(2000), 217-222.
- Hase, K., Yamazaki, N.: Computational evolution of human
bipdal walking by a neuro-musculo-skeletal model, Artificial
Life and Robotics, 3, (1999), 133-138.
- Hase, K., Yamazaki, N.: Computer simulation of the ontogeny
of bipedal walking, Anthropological Science, 106, 4, (1998),
324-347.
- Yamazaki, N., Hase, K., Ogihara, N. Hayamizu, N.: Biomechanical
analysis of the development of infant walking by the neuro-musculo-skeletal
model, Folia Primatologica, 66, (1996), 253-271.
Japanese Publications
- Hase, K., Nishiguchi, J., Yamazaki, N.: A model of human
walking with a three-dimensional musculo-skeletal system and
a hierarchical neuronal system, In: Biomechanism, 15, (ed. Society
of Biomechanisms Japan), (2000), 187-198, Univ. Tokyo Press,
Tokyo.
- Hase, K., Yamazaki, N.: Autonomous acquisition of neural
system generating bipedal walking, Trans. of the Japan Society
of Mechanical Engineers, Series C, 64, 625, (1998), 3541-3547.
- Hase, K., Yamazaki, N.: A virtual evolution study, Simulation
of the evolution of hopping motions in animals, In: Biomechanism,
14, (ed. Society of Biomechanisms Japan), (1998), 183-194, Univ.
Tokyo Press, Tokyo.
- Hase, K., Inoue, T., Kizuka, T., Kaneko, S., Hirose, H.,
Sudo, Y.: A simulation of body movement to predict physical loads
involved in care giving, Journal of the Society of Biomechanisms
Japan, 22, 8, (1998), 115-120.
- Hase, K., Yamazaki, N.: Synthesis of bipedal motion resembling
actual human walking by neural oscillators and genetic algorithms,
Trans. the Society of Instrument and Control Engineers of Japan,
33, 5, (1997), 448-454.
English Presentations
- Hase, K., Computer simulation of human gait for anthropological
applications, Proc. Inter-Congress of IUAES (the International Union of
Anthropological and Ethnological Sciences), (2002), 65.
- Nakayama A., Obinata, G., Hase, K., Obara, M.: Simulation of biped walking
on slopes by three-dimensional musculoskeletal model, Proc. 4th Asian Control
Conference (ASCC2002), 146-149.
- Nakayama, A., Obinata, G., Hase, K., Three-dimensional musculoskeletal
model for simulating bipedal walking, Proc. 6th International Conference on
Motion and Vibration Control (MOVIC2002), (2002), 123-126.
- Obinata, G., Nakayama, A., Hase, K., Ito, S.: Simulation tool of
three-dimensional musculoskeletal model for constructing full closed-loop
control of restoring biped walking, Proc. 7th Annual Conference of the
International Functional Electrical Stimulation Society (IFESS2002), (2002),
72-74.
- Andrews, B.J., Hase, K., Halliday, S.E., Zavatsky, A.B.: Biomechanical
study of FES rowing and inclined bench sliding systems using simulation
models, Proc. 7th Annual Conference of the International Functional Electrical
Stimulation Society (IFESS2002), (2002), 347-349.
- Hase, K., Halliday, S.E.: System dynamics approach to understanding
cooperation between the neuro-musculo-skeletal systems in human
walking, Proc. Symposium of the International Society for Postural
and Gait Research, (2001), 562-565.
- Ok, S., Miyashita, K., Hase, K.: Evolving bipedal locomotion
with genetic programming -A preliminary report -, Proc. Congress
on Evolutionary Computation 2001 (CEC2001), (2001).
- Hase, K.: Computer simulation of pathological waking with
a three-dimensional whole-body neuro-musculo-skeletal model,
Proc. 12th Conference of the European Society of Biomechanics,
(2000), 122.
- Hase, K.: Computational rehabilitation engineering with a
human walking model, Proc. TOYOTA International Symposium on
Human Life Support Biomechanics, (1999), 43.
- Hase, K.: Dynamic simulation of three-dimensional running
motion, Proc. XVIIth Congress, International Society of Biomechanics,
(1999), 429.
- Hase, K.: A model of human walking with a three-dimensional
musculo-skeletal system and a hierarchical neuronal system, Proc.
VIIth International Symposium on Computer Simulation in Biomechanics,
(1999), 120-123.
- Hase, K., Yamazaki, N.: Computer simulation of bipedal walking
using a three-dimensional whole-body neuro-musculo-skeletal model,
International Workshop Arboreal Locomotor Adaptation in Primates
and Its Relevance to Human Evolution, (1999), 89-92.
- Hase, K., Yamazaki, N.: Computation evolution of human bipdal
walking by a neuro-musculo-skeletal model, Proc. of Third International
Symposium on Artificial Life and Robotics (AROB III '98), (1998),
174-177.
- Hase, K., Yamazaki, N.: A Self-organizing model to imitate
human development for autonomous bipedal walking, Proc. VIth
International Symposium on Computer Simulation in Biomechanics,
(1997), 9-12.
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