Multi-objective prioritization in human walking

Minimization of metabolic energy cost is often thought of as a fundamental principle of legged locomotion. The objectives of human walking, however, are unlikely to be limited to minimizing metabolic demands. Among alternative/concurrent criteria, stability preservation and neurornechanical factors are objectives warranting further investigation. Through a series of studies this thesis challenges the dominant energetic paradigm and highlights the importance of neuromechanical factors, in particular muscle activation. This work also explores the mechanisms through which task-level objectives are achieved and provides support for targeted control of peripheral structures (e.g. joints) as opposed a higher-level whole-body center of mass control strategy.