Do Humans Optimally Exploit Redundancy to Control Step Variability in Walking 英文参考文献.docVIP

DoHumansOptimallyExploitRedundancytoControl StepVariabilityinWalking? JonathanB.Dingwell1*,JobyJohn2,JosephP.Cusumano2* 1Department of Kinesiology, University of Texas, Austin, Texas, United States of America, 2Department of Engineering Science Mechanics, Pennsylvania State University,UniversityPark,Pennsylvania,UnitedStatesofAmerica Abstract Itiswidelyacceptedthathumansandanimalsminimizeenergeticcostwhilewalking.Whilesuchprinciplespredictaverage behavior,theydonotexplainthevariabilityobservedinwalking.Forrobustperformance,walkingmovementsmustadapt ateachstep,notjustonaverage.Here,weproposeananalyticalframeworkthatreconcilesissuesofoptimality,redundancy, andstochasticity.Forhumantreadmillwalking,wedefinedagoalfunctiontoformulateaprecisemathematicaldefinitionof one possible control strategy: maintainconstant speed at eachstride. We recordedstride times andstride lengths from healthysubjectswalkingatfivespeeds.Thespecifiedgoalfunctionyieldedadecompositionofstride-to-stridevariations into new gait variables explicitly related to achieving the hypothesized strategy. Subjects exhibited greatly decreased variabilityforgoal-relevantgaitfluctuationsdirectlyrelatedtoachievingthisstrategy,butfargreatervariabilityforgoal- irrelevantfluctuations.Moreimportantly,humansimmediatelycorrectedgoal-relevantdeviationsateachsuccessivestride, while allowing goal-irrelevant deviations to persist across multiple strides. To demonstrate that this was not the only strategypeoplecouldhaveusedtosuccessfullyaccomplishthetask,wecreatedthreesurrogatedatasets.Eachtesteda specific alternative hypothesis that subjects used a different strategy that made no reference to the hypothesized goal function.Humansdidnotadoptanyoftheseviablealternativestrategies.Finally,wedevelopedasequenceofstochastic controlmodelsofstride-to-stridevariabilityforwalking,basedontheMinimumInterventionPrinciple.Wedemonstratethat healthyhumansarenotprecisely‘‘optimal,’’butinsteadconsistentlyslightlyover-correctsmalldeviation