Control strategy of central pattern generator gait movement under condition of attention selection

As a typical rhythmic movement, human being＇s rhythmic gait movement can be generated by a central pattern generator （CPG） located in a spinal cord by self- oscillation. Some kinds of gait movements are caused by gait frequency and amplitude variances. As an important property of human being＇s motion vision, the attention selection mechanism plays a vital part in the regulation of gait movement. In this paper, the CPG model is amended under the condition of attention selection on the theoretical basis of Matsuoka neural oscillators. Regulation of attention selection signal for the CPG model parameters and structure is studied, which consequentially causes the frequency and amplitude changes of gait movement output. Further, the control strategy of the CPG model gait movement under the condition of attention selection is discussed, showing that the attention selection model can regulate the output model of CPG gait movement in three different ways. The realization of regulation on the gait movement frequency and amplitude shows a variety of regulation on the CPG gait movement made by attention selection and enriches the controllability of CPG gait movement, which demonstrates potential influence in engineering applications.