International Symposium on Nonlinear Theory and Its Applications
Uncontrolled Manifold Analysis of Oscillatory Motions in Dynamical Models of Body Movement Based on the Floquet Theory
Sho Shirasaka, Wataru Kurebayashi, Hiroya Nakao,
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The uncontrolled manifold analysis provides the synergy index, which quantifies how well a neuro-musculo-skeletal system of the animal body is coordinated to maintain a certain movement such as walking. The synergy index has experimentally been estimated from observed data. In this study, we propose a theory that gives the synergy index of a stable rhythmic movement from dynamical models by using the Floquet theory for limit cycles. The synergy index of an oscillatory motion in a simple model is calculated as an illustration of the theory.