An Adaptive Bioinspired Foot Mechanism Based on Tensegrity Structures

Sun, Jiachang; Song, Guangsheng; Chu, Jinkui; Ren, Luquan

doi:10.1089/soro.2018.0168

Cited by 21 publications

(7 citation statements)

References 43 publications

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“…This was also confirmed in an earlier study of a powered ankle prosthesis composed of SEAPSs [38]. The adaptive ability of the robotic ankle has become a research hotspot in recent years [19], [39], [40]. In this article, it is proposed for maybe the first time to judge adaptability through the sensing ability of inclined terrains.…”

Section: B Joint Stiffness Changes and Adaptive Capabilitiessupporting

confidence: 61%

A Multiaxial Bionic Ankle Based on Series Elastic Actuation With a Parallel Spring

Zhao,

Liang,

Wang

et al. 2024

IEEE Trans. Ind. Electron.

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Traditional robotic foot and ankle have received considerable attention for adaptive locomotion on complex terrain and land buffering ability. This study aims to develop a robotic ankle based on series elastic actuator with a parallel spring (SEAPS) by mimicking the two degree-of-freedom human ankle and related muscles. A unique four-SEAPS-based spring mechanism enhances motion adaptation and landing buffer. A dynamic model based on the SEAPS drive is presented, whereas a kinematic solution is realized. The bionic ankle has a wide range of motions with 30°in both the sagittal and frontal planes, which cover most of the human ankle motions. Four experiments were conducted to thoroughly characterize the capabilities. First, the static stiffness and the 2-D/3-D trajectory tracking performance of the proposed ankle were tested. Second, the angle sensing capacity under inclined road surface and the land buffering performance from a specific height were evaluated. The results show that the maximum 3-D motion tracking error is smaller than 2.3%, and the minimum sensing error of inclined road is smaller than 0.5%. The proposed ankle can closely track the 3-D walking trajectory of natural ankle joint with relative root-mean-square error well below 1.0%. Compared with no springs, landing buffer of the ankle with SEAPS can yield remarkable reduction in both peak ground reaction force (52.2%) and joint torque (57.9%). These findings prove that the SEAPS-based

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Section: B Joint Stiffness Changes and Adaptive Capabilitiessupporting

confidence: 61%

A Multiaxial Bionic Ankle Based on Series Elastic Actuation With a Parallel Spring

Zhao,

Liang,

Wang

et al. 2024

IEEE Trans. Ind. Electron.

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“…Other examples of biomimetic robotics include the design of a robotic fish, developed by Li et al [97], capable of swimming and maneuvering like a real fish, and continuous robots based on elephants, earthworms, snakes and octopuses, capable of traversing confined spaces and manipulating objects [3]. In this context, Brandão & Savi [122], and Sun et al [13] [123] have investigated the design of a foot structure with flexibility, self-stability and self-adaptability inspired by the biomechanics of the human body.…”

Section: Applicationsmentioning

confidence: 99%

“…However, it is emphasized that this state cannot call a tensegrity structure [12]. Some of the main characteristics of TSs that differentiate them from other structures are their deformability, adaptability to the environment, impact resistance [13], lightness, folding, modularity, stiffness [14], high stiffnessmass ratio, dexterity, and resilience [15], controllability, reliability, flexibility [16], mobility and self-reliance [17]. They have been used to design metamaterials, reaching negative bulk modulus behaviors, negative Poisson ratio, high energy absorption, and effective negative mass [18].…”

Section: Introductionmentioning

confidence: 99%

Untitled

2023

JESTR

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Tensegrity is composed of structures that are characterized by compressive elements (bars) and tension elements (cables) that work together to transmit and/or withstand forces in an efficient and balanced manner. Their kinetic analysis, design, and control are study topics with various methods still being explored. Furthermore, research and development have been conducted in different areas such as architecture, engineering, biomechanics and robotics, exploring lightweight and resilient tensegrity structures for more flexible and adaptable movements. Tensegrity is a structure increasingly used and studied in different areas, thanks to its ability to transmit forces efficiently and its versatility in the application of designs and solutions in different areas. So, this review presents initial definitions of this area, as well as recent methods and applications that have been developed and are the focus of study for future advances.

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“…For example, Wang et al [22] modeled tensegrity swimmer and rigid bodies in the MuJoCo simulator and studied the data-based control methods. Sun et al [23] studied a tensegrity foot with a rigid board and universal joint in ADAMS.…”

Section: Introductionmentioning

confidence: 99%