When used by Walknet to control stance movements, the whole system is functionally similar to the positive velocity feedback approach as it can adapt to any surface structure and allows for easy control of curve walking (Schilling et al. 2012).
As a completely different solution, which is, however, functionally quite similar to positive velocity feedback, a kinematic body model has been introduced to control stance movement (Schilling et al. 2012; Schilling 2011).
The participants were requested to stand upright and barefoot at mark level on the support surface to control stance width, remaining as still as possible, breathing normally, and being with their arms at their sides.
Somatosensory apparatus located in the neck, trunk, and lower extremities is inevitable in sensing stance perturbation information through upward neural pathway, while trunk and lower extremity muscles are modulated by downward neural pathway formulating matched muscular synergy as postural actions to control stance posture [ 14].
Although previous studies have investigated the effects of bilateral muscle fatigue on bipedal postural control, whether and how the central nervous system could adapt to unilateral muscle fatigue for controlling bipedal stance remains to be investigated.
The observed postural responses could be viewed as an adaptive process to cope with an unilateral alteration in the hip neuromuscular function induced by the fatiguing exercise for controlling bipedal stance.
In later, still kinematic simulations, based on controlling the stance movement via positive velocity feedback, these mechanical contributions are implemented explicitly (Cruse et al. 1996, 1998; Kindermann 2002).
Stance-net controls the stance movement, Swing-net controls the trajectory of the swing movement, the Target-nets contain information concerning the end position of a swing movement used by the corresponding Swing-net.
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