Data from: Robotic investigation on effect of stretch reflex and crossed inhibitory response on bipedal hopping

To maintain balance during dynamic locomotion, the effects of proprioceptive sensory feedback control (e.g. reflexive control) should not be ignored because of its simple sensation and fast reaction time. Scientists have identified the pathways of reflexes; however, it is difficult to investigate their effects during locomotion because locomotion is controlled by a complex neural system and current technology does not allow us to change the control pathways in living humans. To understand these effects, we construct a musculoskeletal bipedal robot, which has similar body structure and dynamics to a human. By conducting experiments on this robot, we investigate the effects of reflexes (stretch reflex and crossed inhibitory response) on the posture during hopping, a simple and representative bouncing gait with complex dynamics. Through over 300 hopping trials, we confirm that both the stretch reflex and crossed response can contribute to reducing the lateral inclination during hopping. These reflexive pathways do not use any prior knowledge of the dynamic information of the body such as its inclination. Beyond improving the understanding of human neural system, this study provides roboticists with biomimetic ideas for robot locomotion control.Air Pressure Soleus Fig. 4This file includes the data of air pressue data showed in Fig. 4 in the manuscript.Theta Fig. 4This file includes the data of lateral inclination (theta) during stance phase in Fig. 4 in the manuscript.Data Fig. 5 and Fig. 6It contains all the data of Theta_td and Theta_lo of all the trials from NONE, SR, and SR-CIR cases. The detailed data for Fig .6, including the average value and standard deviation is also contained