Knee joint mechanism that mimics elastic characteristics and bending in human running

Takuya Otani, K. Hashimoto, S. Hamamoto, S. Miyamae, M. Sakaguchi, Yasuo Kawakami, H. O. Lim, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5156-5161
Number of pages6
Volume2015-December
ISBN (Print)9781479999941
DOIs
Publication statusPublished - 2015 Dec 11
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: 2015 Sep 282015 Oct 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period15/9/2815/10/2

Fingerprint

Leaf springs
Stiffness
Worm gears
Torsional stress
Elasticity
Torque
Robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Otani, T., Hashimoto, K., Hamamoto, S., Miyamae, S., Sakaguchi, M., Kawakami, Y., ... Takanishi, A. (2015). Knee joint mechanism that mimics elastic characteristics and bending in human running. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2015-December, pp. 5156-5161). [7354103] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354103

Knee joint mechanism that mimics elastic characteristics and bending in human running. / Otani, Takuya; Hashimoto, K.; Hamamoto, S.; Miyamae, S.; Sakaguchi, M.; Kawakami, Yasuo; Lim, H. O.; Takanishi, Atsuo.

IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. p. 5156-5161 7354103.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Otani, T, Hashimoto, K, Hamamoto, S, Miyamae, S, Sakaguchi, M, Kawakami, Y, Lim, HO & Takanishi, A 2015, Knee joint mechanism that mimics elastic characteristics and bending in human running. in IEEE International Conference on Intelligent Robots and Systems. vol. 2015-December, 7354103, Institute of Electrical and Electronics Engineers Inc., pp. 5156-5161, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 15/9/28. https://doi.org/10.1109/IROS.2015.7354103
Otani T, Hashimoto K, Hamamoto S, Miyamae S, Sakaguchi M, Kawakami Y et al. Knee joint mechanism that mimics elastic characteristics and bending in human running. In IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December. Institute of Electrical and Electronics Engineers Inc. 2015. p. 5156-5161. 7354103 https://doi.org/10.1109/IROS.2015.7354103
Otani, Takuya ; Hashimoto, K. ; Hamamoto, S. ; Miyamae, S. ; Sakaguchi, M. ; Kawakami, Yasuo ; Lim, H. O. ; Takanishi, Atsuo. / Knee joint mechanism that mimics elastic characteristics and bending in human running. IEEE International Conference on Intelligent Robots and Systems. Vol. 2015-December Institute of Electrical and Electronics Engineers Inc., 2015. pp. 5156-5161
@inproceedings{a87340b78b1a45b59eee7f4be57fbaa2,
title = "Knee joint mechanism that mimics elastic characteristics and bending in human running",
abstract = "Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.",
author = "Takuya Otani and K. Hashimoto and S. Hamamoto and S. Miyamae and M. Sakaguchi and Yasuo Kawakami and Lim, {H. O.} and Atsuo Takanishi",
year = "2015",
month = "12",
day = "11",
doi = "10.1109/IROS.2015.7354103",
language = "English",
isbn = "9781479999941",
volume = "2015-December",
pages = "5156--5161",
booktitle = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Knee joint mechanism that mimics elastic characteristics and bending in human running

AU - Otani, Takuya

AU - Hashimoto, K.

AU - Hamamoto, S.

AU - Miyamae, S.

AU - Sakaguchi, M.

AU - Kawakami, Yasuo

AU - Lim, H. O.

AU - Takanishi, Atsuo

PY - 2015/12/11

Y1 - 2015/12/11

N2 - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.

AB - Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the leg's joints behave like a torsion spring in the stance phase. Moreover, the knee bends rapidly to avoid contact of the foot with the ground in the swing phase. In this paper, we describe the development of a knee joint mechanism that mimics the elastic characteristics of the stance leg and rapid bending knee of the idling leg of a running human. The knee was equipped with a mechanism comprising two leaf springs and a worm gear for adjusting the joint stiffness and high-speed bending knee. Using this mechanism, we were able to achieve joint stiffness within the range of human knee joints that could be adjusted by varying the effective length of one of the leaf springs. In addition, the mechanism was able to bend rapidly by changing the angle between the two leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the adjustable joint stiffness and the effectiveness of the proposed equation for joint stiffness and high-speed knee bending. We were able to make a bipedal robot hop using pelvic oscillation for storing energy produced by the resonance to leg elasticity and confirmed the mechanism could produce large torque 210 Nm.

UR - http://www.scopus.com/inward/record.url?scp=84958185876&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84958185876&partnerID=8YFLogxK

U2 - 10.1109/IROS.2015.7354103

DO - 10.1109/IROS.2015.7354103

M3 - Conference contribution

SN - 9781479999941

VL - 2015-December

SP - 5156

EP - 5161

BT - IEEE International Conference on Intelligent Robots and Systems

PB - Institute of Electrical and Electronics Engineers Inc.

ER -