Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Takuya Otani; Kenji Hashimoto; Takaya Isomichi; Shunsuke Miyamae; Masanori Sakaguchi; Yasuo Kawakami; Hun ok Lim; Atsuo Takanishi

doi:10.1007/978-3-319-33714-2_27

Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human

Takuya Otani, Kenji Hashimoto, Takaya Isomichi, Shunsuke Miyamae, Masanori Sakaguchi, Yasuo Kawakami, Hun ok Lim, Atsuo Takanishi

School of Sport Sciences

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

1 Citation (Scopus)

Abstract

Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	243-250
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-319-33714-2_27
Publication status	Published - 2016 Jan 1

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	569
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Carbon Fiber Reinforce Plastic
Humanoid Robot
Joint Stiffness
Joint Torque
Stance Phase

ASJC Scopus subject areas

Mechanical Engineering
Mechanics of Materials
Computer Science Applications
Modelling and Simulation

Access to Document

10.1007/978-3-319-33714-2_27

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Cite this

Otani, T., Hashimoto, K., Isomichi, T., Miyamae, S., Sakaguchi, M., Kawakami, Y., Lim, H. O., & Takanishi, A. (2016). Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 243-250). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569). Springer International Publishing. https://doi.org/10.1007/978-3-319-33714-2_27

Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. / Otani, Takuya; Hashimoto, Kenji; Isomichi, Takaya; Miyamae, Shunsuke; Sakaguchi, Masanori; Kawakami, Yasuo; Lim, Hun ok; Takanishi, Atsuo.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. p. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 569).

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

Otani, T, Hashimoto, K, Isomichi, T, Miyamae, S, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2016, Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 569, Springer International Publishing, pp. 243-250. https://doi.org/10.1007/978-3-319-33714-2_27

Otani T, Hashimoto K, Isomichi T, Miyamae S, Sakaguchi M, Kawakami Y et al. Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2016. p. 243-250. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-319-33714-2_27

Otani, Takuya ; Hashimoto, Kenji ; Isomichi, Takaya ; Miyamae, Shunsuke ; Sakaguchi, Masanori ; Kawakami, Yasuo ; Lim, Hun ok ; Takanishi, Atsuo. / Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2016. pp. 243-250 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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AU - Lim, Hun ok

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