Biologically motivated neuro-mechanical stepping model in the frontal plane with integration of sensor driven balance control [Elektronische Ressource] / Sonja Andrea Karg

Sonja Andrea Karg

Description

Biologically Motivated Neuro-Mechanical SteppingModel in the Frontal Plane with Integration ofSensor-Driven Balance ControlSonja Andrea Karg¨ ¨TECHNISCHE UNIVERSITAT MUNCHENLehrstuhl fu¨r Realzeit-ComputersystemeBiologically Motivated Neuro-Mechanical SteppingModel in the Frontal Plane with Integration ofSensor-Driven Balance ControlSonja Andrea KargVollst¨andiger Abdruck der von der Fakult¨at fu¨r Elektrotechnik und Informationstechnik derTechnischen Universit¨at Mun¨ chen zur Erlangung des akademischen Grades einesDoktor-Ingenieurs (Dr.-Ing.)genehmigten Dissertation.Vorsitzender: Univ.- Prof. Dr. rer. nat. habil. B. WolfPru¨fer der Dissertation: 1. Univ.- Prof. Dr.-Ing. G. F¨arber2. Priv.-Doz. Dr.-Ing. St. GlasauerLudwig-Maximilians-Universit¨at Munc¨ henDie Dissertation wurde am 23.06.2008 bei der Technischen Universit¨at Munc¨ hen eingereichtund durch die Fakult¨at fur¨ Elektrotechnik und Informationstechnik am24.11.2008 angenom-men.AcknowledgementsThis work was i.a. supported by the Deutschen Forschungsgemeinschaft (DFG) start-ing with the SFB-462 “Sensomotorische Analyse biologischer Systeme, Modellierung undmedizinisch-technische Nutzung” and later with the program “Vestibul¨are Funktion undOkulomotorik: Stand- und Gangregulation” STR-384/1,2.First of all, I want to thank my advisor Prof. Dr. Georg F¨arber who gave me theopportunity for this very interesting and thrilling work.

Sujets

• Gesundheit

Informations

• Publié par: technische_universitat_munchen
• Publié le: 01 janvier 2008
• Nombre de lectures: 23
• Langue: English
• Poids de l'ouvrage: 18 Mo

Extrait

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BiologicallyMotivatedNeuro-MechanicalStepping
ModelintheFrontalPlanewithIntegrationof
Sensor-DrivenBalanceControl

SonjaAndreaKarg

TVoecllsthni¨andischegnerUniAbdverrusitck¨atdMer¨unvonchenderzurFEakulrlatn¨atgufu¨ngrEldesektakroteademichnischkuenndGradesInformateinioesnstechnikder

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Univ.-Prof.Dr.rer.nat.habil.B.Wolf

1.Univ.-Prof.Dr.-Ing.G.F¨arber

2.PLudrivw.-Doz.ig-MaximiDr.-Inglians.St.-UniversGlasauerit¨atM¨unchen

DieDissertationwurdeam23.06.2008beiderTechnischenUniversit¨atM¨uncheneingereicht
unddurchdieFakult¨atf¨urElektrotechnikundInformationstechnikam24.11.2008angenom-
n.me

Acknowledgements

ingThiswithworkthewasSFBi.a.-462supp“SensomoortedbytoristhecheDeutschenAnalysebioFlogischerorschungsgemeinschaftSysteme,Mode(DFllierunG)gstartund-
medizinisch-technischeNutzung”andlaterwiththeprogram“Vestibul¨areFunktionund
Okulomotorik:Stand-undGangregulation”STR-384/1,2.
Firstofall,IwanttothankmyadvisorProf.Dr.GeorgF¨arberwhogavemethe
opportunityforthisveryinterestingandthrillingwork.Withhismannerofgivingme
plentyofspacetodevelopownideasheenabledmetofindmyownwayandtolearnfrom
manyvaluableexperienceswhichfinallyleadtothiswork.
IalsowanttothankPD.Dr.StefanGlasauerwithwhomIhadsomeveryhelpfuland
informativediscussions.Withhisexperienceonbothsidesofthetopic,thetechnicaland
thebiological/medicalside,hesupportedmetoaccomplishthesplitbetweenthedifferent
s.disciplineAttheNeurologicalClinicofGrosshadernIwanttothankmycolleaguesforthegoodco-
operation,especiallymymedicalcolleaguePD.Dr.KlausJahn,whojoinedmeformany
experimentsandforthelivelydiscussionsaboutnewideasandconcepts.Thanksso
muchtoDr.ErichSchneiderwhohelpedmewithmanytechnicaldetailsforexperimental
setupsandhadalwaysgoodadviseformyquestions.AlsoIwanttothankMarkusHuber
whogavemeahelpfulhandformyexperiments.
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Contents

ListofSymbols

ivii

1Introduction1
1.1Motivation....................................1
1.2StateoftheArtContext............................2
1.3Outline......................................3

2PassiveMechanicalModels5
2.1StateoftheArtofPassiveMechanicalModels................5
2.2SteppingModelintheSagittalPlane.....................7
2.2.1LagrangianPrincipleofaPendulum.................7
2.2.2Mechanicsofthe2DSteppingModelintheSagittalPlane.....9
2.2.3GroundContactModel.........................10
2.3SteppingModelintheFrontalPlane.....................11
2.3.1Mechanicsofthe2DSteppingModelintheFrontalPlane.....13
2.3.2GroundContact.............................18
2.3.3ExtendedGroundContactModelforActuatedMechanics.....21
2.4SimulationResults...............................22
2.4.1BallisticPeriodicMovementsintheSagittalPlane..........23
2.5Conclusion....................................28

3ActuationofPassiveMechanicalModels29
3.1StateoftheArtofActuationMechanismsforWalkingModels.......30
3.2ExamplesofOscillator-DrivenMovementsinBiology............30
3.2.1Lamprey.................................31
3.2.2Cat....................................32
3.3NeuralOscillatorModel............................33
3.3.1TheMatsuokaOscillator........................34
3.3.2ConstraintsforOscillation.......................36
3.3.3BasicNetworkTypes..........................36
3.3.4NeuronalOscillatorNetworksforWalking..............38
3.4ActivationofMechanicswithOscillators...................43
3.4.1JointTorqueGeneration........................43
3.4.2MuscleFeedbackAppliedtotheOscillator..............44
3.5Stability.....................................46

v

Contsnet

4

5

vi

3.5.1Poincare´Sections............................46
3.5.2StabilityProofAppliedtoPeriodicWalking.............48
3.5.3FindingConfigurationsforStablePeriodicMovements.......49
3.6SimulationofSteppingMovementsandVisualization............50
3.7SimulatedSteppingMovementsintheSagittalPlane............51
3.7.1WalkingMovements..........................51
3.7.2VariationofParameters........................55
3.8SimulatedSteppingMovementsintheFrontalPlane.............57
3.8.1SimulationofDifferentMovementPatterns..............58
3.8.2InfluenceofParameterChangesonMovementPatterns.......67
3.8.3DifferentFeedbackGains........................70
3.8.4DifferentOscillatorPatterns......................75
3.8.5StabilityofMovementswithExternalPerturbations.........80
3.8.6ComparisonofSimulationDatawithRealSteppingData......86
3.9Discussion....................................90
3.10Conclusion....................................92

High-LevelPostureControl94
4.1StateoftheArtofSensorimotorPostureModels...............96
4.2SensoryModels.................................98
4.2.1VestibularSense.............................98
4.2.2Proprioception.............................100
4.2.3VisualSense...............................102
4.3EstimationforPostureControl........................106
4.3.1TheKalman-FilterTheory.......................106
4.3.2ApplicationoftheKalmanFiltertotheStanceModel........109
4.3.3ExtendedKalmanforNonlinearSensoryModels...........114
4.3.4OptimalLinearQuadraticRegulator.................115
4.4ExperimentallyFoundInfluencesofSensoryCuesonPostureControl...117
4.4.1PlotsandPresentations........................119
4.4.2InfluenceofVisualPerceptionwithEyeMovementsonPostureCon-
trol....................................120
4.4.3InfluenceofVestibularPerceptiononStanceControl........132
4.5SimulatedSwayResponsesforVisualandVestibularStimulation......136
4.5.1ParametersofthePostureControlModel...............137
4.5.2VestibularStimulation.........................138
4.5.3RetinalStimulation...........................141
4.5.4EyeMovementStimulation.......................144
4.5.5CombinedRetinalandEyeMovementStimulation..........148
4.6Discussion....................................151
4.7Conclusion....................................153

IntegrationofHigh-LevelandLow-LevelModels154
5.1StateoftheArtofIntegrationModels....................155

Contsnet

5.2ControlStrategyfortheSteppingModel...................157
5.2.1FeedbackLinearizationTheory....................157
5.2.2AppliedFeedbackLinearizationforHipMovements.........159
5.2.3AppliedPreviewControlandOptimizationCriteria.........160
5.3AppliedIntegrationModel...........................161
5.4SimulationofLow-LevelSteppingMovementswithHigh-LevelPosture
Control.....................................164
5.5Discussion....................................167
5.6Conclusion....................................170

6SummaryandFinalConclusion171
6.1Outlook.....................................173

hyograpBibli

175

vii

ListofSymbols

CNSCOMCOPCPGFDOgGVSFFTfpsRLQMSEdeoRMSPZM

viii

centralnervoussystem
assmoftercencenterofpressure
centralpatterngenerator
mdofreeofdegree(s)gravitationalforce
gafastlvaFonicuriervestitrabularnsfostimrmatioulusn
framespersecond
linearquadraticregulator
rerrosquaremeanordinarydifferentialequation
rootmeansquare
zeromomentpoint

SymbolsofEquations
Asystemstatematrixindiscretestatespacedescription
ai,jweightofinhibitingsynapticinputbetweenneuroniandj
αangleofstanceleginfrontal-planemodel
α˙Bangsystemularvinputelocitymaoftrixstainncedislegcreteinfrstateontal-spaceplanemodescriptiodeln
βangleofhipinfrontal-planemodel
˙Cβangularmeasuremenvelotcitymatofrixhipininfrondiscretetstaal-planetespamocedeldescription
GD(q)matrixmeasuremenofgratvitainputtionalmatrfoixrceinsdiscretestatespacedescription
γangleofswingleginfrontal-planemodel
γ˙angularvelocityofswingleginfrontal-planemodel
fifiringrateofneuroni