TY - GEN
T1 - Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking
AU - Liu, Yixiang
AU - Zang, Xizhe
AU - Zhang, Niansong
AU - Liu, Yubin
AU - Wu, Ming
N1 - Funding Information:
ACKNOWLEDGMENT This work was funded by the China Scholarship Council (CSC) under Grant 201606120094 and the National Natural Science Foundation of China (NSFC) under Grant 51675116.
Funding Information:
This work was funded by the China Scholarship Council (CSC) under Grant 201606120094 and the National Natural Science Foundation of China (NSFC) under Grant 51675116. Corresponding author: Xizhe Zang.
Publisher Copyright:
© 2018 IEEE.
PY - 2018/8/6
Y1 - 2018/8/6
N2 - The metatarsophalangeal (MTP) joints play critical roles in the push-off phase of human locomotion, but are usually absent in biped robots. Our previous research found that when the unilateral MTP joints were restricted, non-disabled subjects exerted a compensatory mechanism, that is, the intact limb was relied more than the restricted limb. This paper aims to study the effects of unilateral restrictions of the MTP joints on biped robot walking. Gait performance of a biped robot model was analyzed under two conditions, i.e., walking normally, and walking with the MTP joints of the right foot restricted. The results show that unilateral restrictions of the MTP joints lead to larger demands for driving torque and power on partial joints, more total energy consumption, and lower energy efficiency. These results can help understand the functions of the MTP joints in more depth, and offer some inspirations to the researches of biped robots.
AB - The metatarsophalangeal (MTP) joints play critical roles in the push-off phase of human locomotion, but are usually absent in biped robots. Our previous research found that when the unilateral MTP joints were restricted, non-disabled subjects exerted a compensatory mechanism, that is, the intact limb was relied more than the restricted limb. This paper aims to study the effects of unilateral restrictions of the MTP joints on biped robot walking. Gait performance of a biped robot model was analyzed under two conditions, i.e., walking normally, and walking with the MTP joints of the right foot restricted. The results show that unilateral restrictions of the MTP joints lead to larger demands for driving torque and power on partial joints, more total energy consumption, and lower energy efficiency. These results can help understand the functions of the MTP joints in more depth, and offer some inspirations to the researches of biped robots.
KW - biped robots
KW - bipedal walking
KW - gait analysis metatarsophalangeal joint
KW - joint kinetics
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U2 - 10.1109/ICIST.2018.8426106
DO - 10.1109/ICIST.2018.8426106
M3 - Conference contribution
AN - SCOPUS:85052392372
SN - 9781538637814
T3 - 8th International Conference on Information Science and Technology, ICIST 2018
SP - 395
EP - 400
BT - 8th International Conference on Information Science and Technology, ICIST 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th International Conference on Information Science and Technology, ICIST 2018
Y2 - 30 June 2018 through 6 July 2018
ER -
