A Bioinspired Humanoid Foot Mechanism
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...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/4/1686 |
| _version_ | 1797396661484388352 |
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| author | Matteo Russo Betsy D. M. Chaparro-Rico Luigi Pavone Gabriele Pasqua Daniele Cafolla |
| author_facet | Matteo Russo Betsy D. M. Chaparro-Rico Luigi Pavone Gabriele Pasqua Daniele Cafolla |
| author_sort | Matteo Russo |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-09T00:54:38Z |
| format | Article |
| id | doaj.art-92652f89539e4ab68d5b94e0d29b5219 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-09T00:54:38Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-92652f89539e4ab68d5b94e0d29b52192023-12-11T16:59:00ZengMDPI AGApplied Sciences2076-34172021-02-01114168610.3390/app11041686A Bioinspired Humanoid Foot MechanismMatteo Russo0Betsy D. M. Chaparro-Rico1Luigi Pavone2Gabriele Pasqua3Daniele Cafolla4Faculty of Engineering, University of Nottingham, Nottingham NG8 1BB, UKIRCCS Neuromed, Via dell’Elettronica, 86077 Pozzilli (IS), ItalyIRCCS Neuromed, Via dell’Elettronica, 86077 Pozzilli (IS), ItalyDepartment of Medicine and Health Science, University of Molise, 86100 Campobasso (CB), ItalyIRCCS Neuromed, Via dell’Elettronica, 86077 Pozzilli (IS), ItalyThis 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.https://www.mdpi.com/2076-3417/11/4/1686roboticshumanoidsfoot mechanismprostheticsneurorehabilitation |
| spellingShingle | Matteo Russo Betsy D. M. Chaparro-Rico Luigi Pavone Gabriele Pasqua Daniele Cafolla A Bioinspired Humanoid Foot Mechanism Applied Sciences robotics humanoids foot mechanism prosthetics neurorehabilitation |
| title | 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_short | A Bioinspired Humanoid Foot Mechanism |
| title_sort | bioinspired humanoid foot mechanism |
| topic | robotics humanoids foot mechanism prosthetics neurorehabilitation |
| url | https://www.mdpi.com/2076-3417/11/4/1686 |
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