Medicine and Health Sciences Commons^™

General Variability Leads To Specific Adaptation Toward Energy Optimal Policies, Sabrina J. Abram, Katherine L. Poggensee, Natalia Sánchez, Surabhi N. Simha, James M. Finley, Steven H. Collins, J. Maxwell Donelan

Physical Therapy Faculty Articles and Research

Our nervous systems can learn optimal control policies in response to changes to our bodies, tasks, and movement contexts. For example, humans can learn to adapt their control policy in walking contexts where the energy-optimal policy is shifted along variables such as step frequency or step width. However, it is unclear how the nervous system determines which ways to adapt its control policy. Here, we asked how human participants explore through variations in their control policy to identify more optimal policies in new contexts. We created new contexts using exoskeletons that apply assistive torques to each ankle at each walking …