TY - GEN
T1 - Shoes-wearable foot mechanism mimicking characteristics of human's foot arch and skin
AU - Hashimoto, Kenji
AU - Motohashi, Hiromitsu
AU - Takashima, Takamichi
AU - Lim, Hun Ok
AU - Takanishi, Atsuo
PY - 2013/11/14
Y1 - 2013/11/14
N2 - In this study we describe a shoes-wearable foot mechanism which mimics human's foot arch structure and the characteristics of the foot skin to examine the effect of the human foot on biped walking. We approximate the arch structure by a rotational spring and model the human's foot skin with compression springs. The mimesis of the foot arch elasticity is realized by using compression springs. Regarding the characteristics of human's foot skin, first we develop a measuring equipment to measure the human's plantar transverse elasticity. We set the target value of the modulus of transverse elasticity of the foot skin to 11.2 N/mm, and we set the modulus of compression elasticity to 0.136 MPa, referring to a relevant study. The characteristics of human's foot skin are mimicked by using a super-soft urethane resin called Hitohada-gel with 8 mm thick. Through evaluation tests we confirmed that the shoes-wearable foot mechanism could mimic well the characteristics of human's foot arch and skin.
AB - In this study we describe a shoes-wearable foot mechanism which mimics human's foot arch structure and the characteristics of the foot skin to examine the effect of the human foot on biped walking. We approximate the arch structure by a rotational spring and model the human's foot skin with compression springs. The mimesis of the foot arch elasticity is realized by using compression springs. Regarding the characteristics of human's foot skin, first we develop a measuring equipment to measure the human's plantar transverse elasticity. We set the target value of the modulus of transverse elasticity of the foot skin to 11.2 N/mm, and we set the modulus of compression elasticity to 0.136 MPa, referring to a relevant study. The characteristics of human's foot skin are mimicked by using a super-soft urethane resin called Hitohada-gel with 8 mm thick. Through evaluation tests we confirmed that the shoes-wearable foot mechanism could mimic well the characteristics of human's foot arch and skin.
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U2 - 10.1109/ICRA.2013.6630647
DO - 10.1109/ICRA.2013.6630647
M3 - Conference contribution
AN - SCOPUS:84887286647
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 686
EP - 691
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -