Spring 2000 EXCSCI 797N
Nonlinear Dynamics of Human Movement

Instructors: R.E.A. Van Emmerik & M. Rosenstein

Dates: TUTH 11.15-12.30 (Totman, room 156)

Course Contents

  1. Basic concepts of nonlinear dynamics and complex systems approaches
    1. Introduction
      • Strogatz Chapter 1.
      • How Nature handles complexity. Kelso Chapter 1.
      • PBS video on nonlinear dynamics and chaos
    2. Fixed points, vector fields, stability
      • The last universalist. Stewart Chapter 4.
      • One-dimensional flows. Strogatz Chapter 2.0-2.2,2.4.
    3. Bifurcations, chaos
      • Strange attractors. Stewart chapter 6.
      • One-dimensional maps. Strogatz Chapter 10
    4. Limit cycles
      • One-way pendulum. Stewart Chapter 5.
      • Flows on the circle. Strogatz Chapter 4.0-4.5.
    5. Summary
      • Complex systems and the evolution of matter. Mainzer chapter 2.
  2. Dynamical systems approach to movement coordination
    1. Self-organization of behavior: The basic picture.
      • Kelso Chapter 2.
    2. Extending the basic picture: breaking away.
      • Kelso Chapter 4.
    3. Development and Learning dynamics.
      • Kelso Chapter 6.
      • Motor development: A new synthesis. Thelen, E. (1995). American Psychologist 50(2), 79-95.
  3. Oscillators
    1. Oscillators: Introduction.
      • Self-organization of behavior: First steps of generalization. Kelso Chapter 3.
    2. Oscillators: Math.
      • Coupled Oscillators and Quasiperiodicity. Strogatz. Chapter 8, pp. 273-278.
      • pulse-coupled oscillators
      • laboratory demo
    3. Oscillators: Biological.
      • The pattern of tiny feet. Stewart, I. & Golubitsky, M. (1992).Fearful symmetry: Is god a geometer? Oxford, UK: Blackwell.
      • Locomotion-respiration coupling. Bramble, D.M., & Carrier, D.R. (1983). Running and breathing in mammals. Science, 219, 251-256; McDermott, W.J. (2000). Coordination between locomotion and breathing: A dynanical systems perspective.
      • Arm movements. Swinnen et al. ?
      • J. Whitall and G. Caldwell, Coordination of Symmetrical and Asymmetrical Human Gait, Journal of Motor Behavior 24(4):339--353, 1992.
      • Haddad, J. (2000). Coordination changes under lower leg assymetry. Chapter 4, Master Thesis. Department of Exercise Science, University of Massachusetts, Amherst.
    4. Oscillators: Robots
      • Scientific American Frontiers video
      • M. Williamson, Rhythmic robot arm control using oscillators, Proceedings of IEEE International Conference on Intelligent Robots and Systems, 1998.
      • S. Miyakoshi, G. Taga, Y. Kuniyoshi and A. Nagakubo. Three Dimensional Bipedal Stepping Motion Using Neural Oscillators --- Towards Humanoid Motion in the Real World, Proceedings of IEEE International Conference on Intelligent Robots and Systems, pp. 84--89, 1998.
      • S. Schaal, S. Kotosaka, and D. Sternad. Dynamical systems as movement primitives, Proceedings of the IEEE International Conference on Computational Intelligence in Robotics and Automation, 1999.
  4. Exploiting dynamics
    1. Bernstein's Perspective
      • Dynamics of Benstein’s level of Synergies. Turvey, M.T. & Carello, C. (1996). In: M.L. Latash & M.T. Turvey (Eds.) Dexterity and its development. Mahwah, New Jersey: Lawrence Erlbaum.
      • Changes in movement skill: Learning, retention and transfer. Newell, K.M. (1996). In: M.L. Latash & M.T. Turvey (Eds.) Dexterity and its development. Mahwah, New Jersey: Lawrence Erlbaum.
      • On the biomechanical basis of dexterity. Van Ingen Schenau, G.J. & van Soest, A.J. (1996). In: M.L. Latash & M.T. Turvey (Eds.) Dexterity and its development. Mahwah, New Jersey: Lawrence Erlbaum.
      • B. Bril and Y. Breniere, Postural Requirements and Progression. Velocity in Young Walkers, Journal of Motor Behavior 24(1):105--116,1992.
    2. Mechanisms
      • R. McN. Alexander, Three uses for springs in legged locomotion, Int. J. Robot. Res. 9(2):53--61, 1990.
      • J.E. Pratt and G.A. Pratt, Exploiting natural dynamics in the control of a planar bipedal walking robot, Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, 998.
    3. The central nervous system
      • Self-organizing dynamics of the nervous system. Kelso chapter 8.
      • Self-organiztion of the brain. Kelso Chapter 9.
    4. Optimization.
      • S. Mochon and T. McMahon, Ballistic Walking: An Improved Model, Mathematical Biosciences 52:241--260, 1980. (Also see McMahon's book for a shorter description of ballistic walking.)
      • M.G. Pandy, B.A. Garner, and F.C. Anderson, Optimal control of non-ballistic muscular movements: a constraint-based performance criterion for rising from a chair, Journal of Biomechanical Engineering 117:15--26, 1995.
      • J. Eng, D. Winter and A. Patla, Intralimb dynamics simplify reactive control strategies during locomotion, Journal of Biomechanics, 30(6):581--588, 1997.
    5. Obstacle avoidance
      • L. Chou, L. Draganich and S. Song, Minimum energy trajectories of the swing ankle when stepping over obstacles of different heights, Journal of Biomechanics 30(2):115--120, 1997.
      • B. McFadyen and H. Carnahan, Anticipatory locomotor adjustments for accommodating versus avoiding level changes in humans, Experimental Brain Research 114(3):500--506, 1997.
      • G. Taga, A Model of The Neuro-musculo-skeletal System For Anticipatory Adjustment of Human Locomotion During Obstacle Avoidance, Biological Cybernetics 78:9--17, 1998.
    6. Movement disorders
      • D. Winter and S. Sienko, Biomechanics of Below-Knee Amputee Gait, Journal of Biomechanics 21(5):361--367, 1988.
      • S. Hill, and A. Patla, M. Ishac, A. Adkin, T. Supan and D. Barth, Altered kinetic strategy for the control of swing limb elevation over obstacles in unilateral below-knee amputee gait, Journal of Biomechanics 32(5), 1999.
      • Holt, K.G., Fonseca, S.T., & LaFiandra, M.E. (in press). The dynamics of gait in children with spastic hemiplegic cerebral palsy: theroretical and clinical implications. Human Movement Science.
    7. Perception
      • Perceptual dynamics. Kelso Chapter 7.
      • M. Turvey, Dynamics of effortful touch and interlimb coordination, J. Biomech. 31:873--882, 1998.
      • J. Jeka, Touching surfaces for control, not support, In Timing of Behavior: Neural, Psychological, and Computational Perspectives, D. Rosenbaum and C. Collyer, eds. The MIT Press, 1998.

 

Other Literature:

Krantz, H, & Schrieber, T. (1997). Nonlinear time series analysis. Cambridge University Press. (available in paperback after February 10, 1999)

Gleick, J. (1987). Chaos: Making of a new science. New York: Viking Penguin, Inc.

Akamatsu, N. Hannaford, B., & Stark, L. (1986). An intrinsic mechanism for the oscillatory contraction of muscle. Biological Cybernetics, 53, 219-227.

Bramble, D.M., & Carrier, D.R. (1983). running and breathing in mammals. Science, 219, 251-256.

Diedrich, F.J., & Warren, W.H. (1995). Why change gaits? Dynamics of the walk-run transition. Journal of Experimental Psychology: Human Perception and Performance, 21, 183-202.

Glass, L. & Glass, M.C. (1988). From clocks to chaos: The rhythms of life. Chapter 9: ‘dynamical diseases’ Princeton, NJ: Princeton University Press. Princeton, NJ: Princeton University Press

Goldberger A.L., Rigney, D.R., & West, B.J. (1990). Chaos and fractals in human physiology. Scientific American, February.

Hausdorff, J.M., Purdon, .L., Peng, C.-K., Ladin, Z., Wei, J.Y., & Goldberger, A.L. (1996). Fractal dynamics of human gait: stability of long-range correlations in stride interval fluctuations. Journal of Applied Physiology, 80, 1448-1457.

Hayano, J., Taylor, J.A., Mukai, S., Okada, A., Watanabe, Y., Takata, K., & Fujinami, T. (1994. Assessment of frequency shifts in R-R interval variability and respiration with complex demodulation.

Kay, B. A., Saltzman, E.L., & Kelso, J.A.S. (1991). Steady-state and perturbed rhythmical movements: A dynamical analysis. Journal of Experimental Psychology: Human Perception and Performance, 17, 183-197.

Kelso, J.A.S. (1995). Dynamic patterns: the self-organization of brain and behavior. Cambridge, Massachusetts: MIT Press.

May, R.M. (1976). Simple mathematical models with very complicated dynamics. Nature, 261, 459-467.

Mpitsos, G.J., Burton, R.M., Creech, H.C., & Soinila, S.O. (1988). Evidence for chaos in spike trains of neurons that generate rhythmic motor patterns. Brain Research Bulletin, 21, 529-538.

Poole, R. (1989). Is it healthy to be chaotic? Science, 243, 604-607.

Schoner, G., & Kelso, J.A.S. (1988). Dynamic pattern generation in behavioral and neural systems. Science, 239, 1513-1520.

Saltzman, E.L, & Munhall, K.G. (1992). Skill acquisition and development: The role of state-, parameter-, and graph-dynamics. Journal of Motor Behavior, 24, 49-57.

Schmidt, G. & Morfill, G.E. (1995). Nonlinear methods for heart rate variability assessment. In M. Malik & A.J. Camm (eds.), Heart rate variability (pp 87-98). Armonk, NY: Futura Publishing Company, Inc.

Shin, K.S., Minamitanit, H. Onishi, S., Yamazaki, H., & lee, M.H. (1993). The power spectral analysis of heart rate variability in athletes during exercise. IEEE, 229-332.

Winfree, A.T. (1987). When time breaks down. Chapters 1-3. Princeton, NJ: Princeton University Press. Princeton, NJ: Princeton University Press.

Home Pages: UMass | CS Dept. | ANW | MTR 
Updated 6-Mar-2000
mtr@cs.umass.edu