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.

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

Publication series

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

Fingerprint

Landing
Stiffness
Robots
Leaf springs
Motion
Carbon fiber reinforced plastics
Stabilization
Humanoid Robot
Carbon Fiber
Twist
Deflection
Experiments
Plastics
Leaves
Robot
Human
Engineering
Output
Experiment

Keywords

  • Elasticity
  • Human motion analysis
  • Humanoid
  • Joint mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Modelling and Simulation

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

Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human. / Otani, Takuya; Hashimoto, Kenji; Natsuhara, Akira; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun ok; Takanishi, Atsuo.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. p. 86-93 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).

Research output: Chapter in Book/Report/Conference proceedingChapter

Otani, T, Hashimoto, K, Natsuhara, A, Sakaguchi, M, Kawakami, Y, Lim, HO & 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. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, Springer International Publishing, pp. 86-93. https://doi.org/10.1007/978-3-319-78963-7_12
Otani T, Hashimoto K, Natsuhara A, Sakaguchi M, Kawakami Y, Lim HO et al. Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2019. p. 86-93. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-319-78963-7_12
Otani, Takuya ; Hashimoto, Kenji ; Natsuhara, Akira ; Sakaguchi, Masanori ; Kawakami, Yasuo ; Lim, Hun ok ; Takanishi, Atsuo. / Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. pp. 86-93 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
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