A quantitative model of walking incorporating central and peripheral influences

A quantitative hypothesis is presented modelling the neuromuscular subsystem which controls the walking movements of a single leg of an insect. The model shown how central and peripheral influences can act together to produce walking movements. The subsystem of one leg consists of a central part producing reference input for a negative feedback loop which controls the position of the leg. The means by which the peripheral signals influence the central part of the model is constructed so that intact sense organs play the decisive role in controlling the walking rhythm of the leg. However, the rhythm can be produced by the control part alone, acting as a safety device if sense organs are destroyed. Using this model a series of experimental results obtained by several authors can be described.

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