Using the foot windlass mechanism for jumping higher: A study on bipedal robot jumping

Liu, Xiangxiao; Duan, Yu; Hitzmann, Arne; Xu, Yuntong; Chen, Tsung-Yuan; Ikemoto, Shuhei; Hosoda, Koh

doi:10.1016/j.robot.2018.09.006

Cited by 14 publications

(10 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The TAH was not significantly changed from 0DI to 15DI and 30DI, but the TAH ratio had significantly increased in 30DI compared to 0DI. When loaded, the arch normally collapses as a response to loads [10] and rebounds like a spring reusing this energy to transmit the forces forwards [16]; however, in the case of HH, it seems that the transverse arch stiffens which does not allow it to do its shock absorption function. In this case, improper force transmission happens which could lead to pain and injuries in the forefoot.…”

Section: Discussionmentioning

confidence: 99%

The shape of the transverse arch in high heels while standing

et al. 2020

View full text Add to dashboard Cite

Introduction High heeled shoes have long been worn in society and they are known to cause biomechanical imbalances to not only the foot, but the whole musculoskeletal system. This study aims to show the detailed changes that happen to the shape of the transverse arch of the foot in high heels, using two different inclination degrees. Methods 68 women participated in this study. Two custom-made high heels were made with inclinations of 15 degrees and 30 degrees (cm). A weight-bearing ultrasound was used to assess the coronal view of the transverse arch in standing. ANOVA and Tuckey tests were used to compare the results between 0 degrees, 15 degrees and 30 degrees inclinations. Results The transverse arch height was slightly increased as the heel height increased (0DI-15DI: p = 0.5852 / 15DI-30DI: p = 0.395 / 0DI-30DI: p = 0.0593). The transverse arch length (0DI-15DI: p = 0.0486 / 15DI-30DI: p = 0.0004 / 0DI-30DI: p = 0.1105) and the area under the metatarsal heads (0DI-15DI: p = 0.0422 / 15DI-30DI: p = 0.0180 / 0DI-30DI: p = 0.9463) significantly decreased as the heel height increased. Discussion The main changes were viewed in the 30 degrees inclinations compared to 0 degrees inclination. When the toes are dorsiflexed in high heels, it stimulates the Windlass mechanism which in turn stiffens the plantar fascia and adducts the metatarsal heads, while the soft tissues shrink in response to loads.

show abstract

Section: Discussionmentioning

confidence: 99%

The shape of the transverse arch in high heels while standing

et al. 2020

View full text Add to dashboard Cite

show abstract

“…The stiffness is linearly related to the pressure [ 30 ]. We decided the pressure parameter by integrating the investigation results of the elastic properties of the plantar fascia [ 31 ] and the robotic studies [ 17 , 32 ]. With the set-up, the stiffness of the single pneumatic muscle is approximately 9.8 N mm −1 .…”

Section: Experimental Methodsmentioning

confidence: 99%

Free moment induced by oblique transverse tarsal joint: investigation by constructive approach

et al. 2021

Self Cite

View full text Add to dashboard Cite

The human foot provides numerous functions that let humans deal with various environments. Recently, study of the structure of the human foot and adjustment of an appropriate reaction force and vertical free moment during bipedal locomotion has gained attention. However, little is known about the mechanical (morphological) contribution of the foot structure to the reaction force and free moment. It is difficult to conduct a comparative experiment to investigate the contribution systematically by using conventional methods with human and cadaver foot experiments. This study focuses on the oblique transverse tarsal joint (TTJ) of the human foot, whose mechanical structure can generate appropriate free moments. We conduct comparative experiments with a rigid foot, a non-oblique joint foot (i.e. mimicking only the flexion/extension of the midfoot), and an oblique joint foot. Axial loading and walking experiments were conducted with these feet. The axial loading experiment demonstrated that the oblique foot generated free moment in the direction of internal rotation, as observed in the human foot. The walking experiment showed that the magnitude of the free moment generated with the oblique foot is significantly lower than that with the rigid foot during the stance phase. Using this constructive approach, the present study demonstrated that the oblique axis of the TTJ can mechanically generate free moments. This capacity might affect the transverse motion of bipedal walking.

show abstract

“…The musculoskeletal biped robot employs McKibben-type pneumatic artificial muscles (PAMs) which has extremely high power/weight ratios actuators (refer to Figure 1A ). Each muscle is handmade and weighs merely 30 g. At the same length, PAMs made from those silicone tubes are 34% lighter than those typically made from candy rubber tubes in the previous study ( Hosoda et al, 2010 ; Liu et al, 2018 ). Moreover, under the same internal air pressure conditions, PAMs made from silicone tubes demonstrate greater shrinkage.…”

Section: Robot System Designmentioning

confidence: 96%

“…In this study, we introduce a musculoskeletal bipedal robot powered by PAMs (McKibben-type pneumatic artificial muscles) to apply the mechanistic properties of the SLIP model. In contrast to conventional robots, these robots are easy to build, there are several studies to realize pneumatic muscle-driven musculoskeletal robot ( Hosoda et al, 2010 ; Niiyama and Kuniyoshi, 2010 ; Liu et al, 2018 ). However, previous research on pneumatic muscle-driven musculoskeletal robots did not integrate properties from simplified models into their robot design and control processes.…”

Section: Introductionmentioning

confidence: 99%

Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model

Li,

Jiang,

Hosoda

2024

Front. Robot. AI

Self Cite

View full text Add to dashboard Cite

To effectively control a robot’s motion, it is common to employ a simplified model that approximates the robot’s dynamics. Nevertheless, discrepancies between the actual mechanical properties of the robot and the simplified model can result in motion failures. To address this issue, this study introduces a pneumatic-driven bipedal musculoskeletal robot designed to closely match the mechanical characteristics of a simplified spring-loaded inverted pendulum (SLIP) model. The SLIP model is widely utilized in robotics due to its passive stability and dynamic properties resembling human walking patterns. A musculoskeletal bipedal robot was designed and manufactured to concentrate its center of mass within a compact body around the hip joint, featuring low leg inertia in accordance with SLIP model principles. Furthermore, we validated that the robot exhibits similar dynamic characteristics to the SLIP model through a sequential jumping experiment and by comparing its performance to SLIP model simulation.

show abstract

Using the foot windlass mechanism for jumping higher: A study on bipedal robot jumping

Cited by 14 publications

References 32 publications

The shape of the transverse arch in high heels while standing

The shape of the transverse arch in high heels while standing

Free moment induced by oblique transverse tarsal joint: investigation by constructive approach

Design and sequential jumping experimental validation of a musculoskeletal bipedal robot based on the spring-loaded inverted pendulum model

Contact Info

Product

Resources

About