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A Bioinspired Humanoid Foot Mechanism

Matteo Russo Orcid Logo, Betsy D. M. Chaparro-Rico Orcid Logo, Luigi Pavone Orcid Logo, Gabriele Pasqua Orcid Logo, Daniele Cafolla Orcid Logo

Applied Sciences, Volume: 11, Issue: 4, Start page: 1686

Swansea University Author: Daniele Cafolla Orcid Logo

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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...

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Published in: Applied Sciences
ISSN: 2076-3417
Published: MDPI AG 2021
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URI: https://cronfa.swan.ac.uk/Record/cronfa62497
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first_indexed 2023-03-01T15:14:13Z
last_indexed 2023-03-02T04:17:37Z
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spelling 2023-03-01T15:16:17.8018001 v2 62497 2023-02-03 A Bioinspired Humanoid Foot Mechanism ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS 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. Journal Article Applied Sciences 11 4 1686 MDPI AG 2076-3417 robotics; humanoids; foot mechanism; prosthetics; neurorehabilitation 13 2 2021 2021-02-13 10.3390/app11041686 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University This work was funded by a grant from Ministero della Salute (Ricerca Corrente 2021). 2023-03-01T15:16:17.8018001 2023-02-03T14:17:00.4188373 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Matteo Russo 0000-0002-8825-8983 1 Betsy D. M. Chaparro-Rico 0000-0002-6874-2508 2 Luigi Pavone 0000-0002-0454-9784 3 Gabriele Pasqua 0000-0002-3082-8429 4 Daniele Cafolla 0000-0002-5602-1519 5 62497__26716__5ed574f1088c417abb9e9a5cfdd985f2.pdf 62497_VoR.pdf 2023-03-01T15:15:47.6874651 Output 21386441 application/pdf Version of Record true © 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 true eng https://creativecommons.org/licenses/by/4.0/
title A Bioinspired Humanoid Foot Mechanism
spellingShingle A Bioinspired Humanoid Foot Mechanism
Daniele Cafolla
title_short A Bioinspired Humanoid Foot Mechanism
title_full A Bioinspired Humanoid Foot Mechanism
title_fullStr A Bioinspired Humanoid Foot Mechanism
title_full_unstemmed A Bioinspired Humanoid Foot Mechanism
title_sort A Bioinspired Humanoid Foot Mechanism
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Matteo Russo
Betsy D. M. Chaparro-Rico
Luigi Pavone
Gabriele Pasqua
Daniele Cafolla
format Journal article
container_title Applied Sciences
container_volume 11
container_issue 4
container_start_page 1686
publishDate 2021
institution Swansea University
issn 2076-3417
doi_str_mv 10.3390/app11041686
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description 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.
published_date 2021-02-13T04:22:09Z
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score 11.013731

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