Human gait simulation with a neuromusculoskeletal model and evolutionary computation

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Abstract
This paper describes a human gait animation system with a precise neuromusculoskeletal model and evolutionary computation. The neuromusculoskeletal model incorporates 14 rigid bodies, 19 degrees of freedom, 60 muscular models, 16 pairs of the neural oscillators, and other neuronal systems. By changing the search parameters and the evaluative criteria of the evolutionary search process, we demonstrate various locomotive patterns, such as normal gait, pathological gait, running and ape‐like walking. The proposed simulation system takes not only kinematic data but also in vivo dynamic data such as energy consumption information into consideration, so that the resultant locomotion patterns are natural and valid from a biomechanical point of view. Hence the simulation system can also be used for finding a biologically appropriate physical model to realize a desired gait by simultaneously modifying the body dynamics parameters with the neuronal parameters. This capability creates a novel application of human gait simulation systems, such as rehabilitation tool design and consultation for physically handicapped people. Copyright © 2003 John Wiley & Sons, Ltd.