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

研究成果: Conference contribution

5 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトルIEEE International Conference on Intelligent Robots and Systems
出版者Institute of Electrical and Electronics Engineers Inc.
ページ5156-5161
ページ数6
2015-December
ISBN(印刷物)9781479999941
DOI
出版物ステータスPublished - 2015 12 11
イベントIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
継続期間: 2015 9 282015 10 2

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Germany
Hamburg
期間15/9/2815/10/2

ASJC Scopus subject areas

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

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  • これを引用

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