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

doi:10.1007/978-3-319-78963-7_12

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

School of Sport Sciences

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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 language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	86-93
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-319-78963-7_12
Publication status	Published - 2019 Jan 1

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	584
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Elasticity
Human motion analysis
Humanoid
Joint mechanism

ASJC Scopus subject areas

Mechanical Engineering
Mechanics of Materials
Computer Science Applications
Modelling and Simulation

Access to Document

10.1007/978-3-319-78963-7_12

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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 proceeding › Chapter

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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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{\textquoteright}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.",

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