A mathematical model of hind-limb control in cats when walking backward


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Abstract

The “walking backward” mode was achieved within a single model of cat hind-limb locomotion with the balance maintenance only due to a change in the controlling actions (in addition to the “forward walking” mode). The skeletal part of the model contains the spine, pelvis, and two limbs consisting of the thigh, shin, and foot. The hip joint and spine mount in the thoracic region have three degrees of freedom; the knee and ankle joints have one degree of freedom. The pelvis is rigidly connected to the spine. Control is performed by model muscles (flexors and extensors of the thigh, shin, and foot). The muscle activation is performed by the effects that are typical for motoneurons that control the muscles. The feet in the support phase touch the treadmill, which moves at a constant speed. The model qualitatively reproduces multiple characteristics of feline movements during forward and backward walking (supporting its validity).

About the authors

V. A. Lyakhovetskii

Pavlov Institute of Physiology

Email: pol-spb@mail.ru
Russian Federation, nab. Makarova 6, St. Petersburg, 199034

N. S. Merkulyeva

Pavlov Institute of Physiology; Institute of Translation Biomedicine

Email: pol-spb@mail.ru
Russian Federation, nab. Makarova 6, St. Petersburg, 199034; Universitetskaya nab. 7/9, St. Petersburg, 199034

A. A. Veshchitskii

Pavlov Institute of Physiology

Email: pol-spb@mail.ru
Russian Federation, nab. Makarova 6, St. Petersburg, 199034

Y. P. Gerasimenko

Pavlov Institute of Physiology

Email: pol-spb@mail.ru
Russian Federation, nab. Makarova 6, St. Petersburg, 199034

P. E. Musienko

Pavlov Institute of Physiology; Institute of Translation Biomedicine; Clinics of Pediatric Surgery and Orthopedics

Author for correspondence.
Email: pol-spb@mail.ru
Russian Federation, nab. Makarova 6, St. Petersburg, 199034; Universitetskaya nab. 7/9, St. Petersburg, 199034; Politekhnicheskaya ul. 32, St. Petersburg, 194064

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