Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human

Takuya Otani, Kenji Hashimoto, Akira Natsuhara, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages86-93
Number of pages8
DOIs
Publication statusPublished - 1 Jan 2019

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume584
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

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Keywords

  • Elasticity
  • Human motion analysis
  • Humanoid
  • Joint mechanism

Cite this

Otani, T., Hashimoto, K., Natsuhara, A., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2019). Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 86-93). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_12