Stretch reflex improves rolling stability during hopping of a decerebrate biped system.

摘要: When humans hop, attitude recovery can be observed in both the sagittal and frontal planes. While it is agreed that brain plays an important role leg placement, of low-level feedback (the stretch reflex) on plane stabilization remains unclear. Seeking to better understand contribution soleus reflex rolling stability, we performed experiments a biomimetic humanoid hopping robot. Various responses touching floor, ranging from no response long muscle activations, were examined, effect delay upon floor was also examined. We found brought system closer stable, straight hopping. The presence did not affect results; cases with without outperformed case response. results this study highlight importance control locomotion for which body does require higher-level signals.