Journal article 558 views 81 downloads
A Bioinspired Humanoid Foot Mechanism
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Betsy D. M. Chaparro-Rico ,
Luigi Pavone ,
Gabriele Pasqua ,
Daniele Cafolla
Applied Sciences, Volume: 11, Issue: 4, Start page: 1686
Swansea University Author:
Daniele Cafolla
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© 2021 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license
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DOI (Published version): 10.3390/app11041686
Abstract
This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of the foot–ground interaction. The proposed foot mech...
| Published in: | Applied Sciences |
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| ISSN: | 2076-3417 |
| Published: |
MDPI AG
2021
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| Online Access: |
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| URI: | https://cronfa.swan.ac.uk/Record/cronfa62497 |
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| Abstract: |
This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of the foot–ground interaction. The proposed foot mechanism consists of three main bodies, to represent the heel, plant, and toes, connected by compliant joints for improved balancing and impact absorption. The functional requirements were extracted from medical literature, and were acquired through a motion capture system, and the proposed design was validated with a numerical simulation. |
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| Keywords: |
robotics; humanoids; foot mechanism; prosthetics; neurorehabilitation |
| College: |
Faculty of Science and Engineering |
| Funders: |
This work was funded by a grant from Ministero della Salute (Ricerca Corrente 2021). |
| Issue: |
4 |
| Start Page: |
1686 |