Abstract
The central pattern generators have been considered as a method to simplify the control of the complex rhythmic motions, e.g., walking, by the central nervous system. In this study, a control structure was designed to control the soleus and tibialis anterior muscles in a complete gait cycle. The activation patterns of the muscles were measured experimentally and used as the reference signals of a tracking problem. The hip angle and ground reaction force were also used as a feedforward. The feedback from the Golgi tendon acted as a regulator of muscle activity. The controller was applied to two gait trials. The results indicated that the designed controller was capable of tracking the reference muscle activation patterns with a high efficacy.
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