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A Bioinspired Humanoid Foot Mechanism
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 |
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MDPI AG
2021
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62497 |
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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 |
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Faculty of Science and Engineering |
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facultyofscienceandengineering |
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Faculty of Science and Engineering |
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facultyofscienceandengineering |
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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 |
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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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1763754461056991232 |
score |
11.035349 |