Study On Gait Control Based On CPG Principle And Locomotion Cognition

By studying Central Pattern Generator (Central Pattern does) model controlling the human gait movement, this paper mainly discusses the basic characteristics of the rhythmic gait movement and the dynamic mechanism. Theoretically, CPG model is established, which combines neural oscillator theory with leg muscles-skeletal system. The simulation realizes the basic properties of the rhythmic gait movement, such as rhythm, coordination and variety.Breaking through the research of the original CPG model just reflects the single-leg rhythmic gait movement patterns, the study in this paper considers the coupling relationship of the CPG network between legs, and establishes two-legs CPG network which reflects the mutual connection of each joint between two legs and rhythm and coordination of the gait movement. At present, the cognition about rhythmic movement still stays in the level of spontaneous movement. However, biologically, the brain controls the human's any activity, even unconscious activity. The two-legs CPG model is further revised, adding influence parameters as cerebral cortex signal. The simulation results of the revised model show that the rhythmic gait movement can generate gait conversion about pattern and frequency in the role of simulated cerebral cortex signal, these results accord with biological actual phenomenon, which have practical significance.