کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5019006 1467725 2017 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Design of a bioinspired tunable stiffness robotic foot
ترجمه فارسی عنوان
طراحی یک پایه روباتیک سختی قابل تنظیم زیستی
کلمات کلیدی
مکانیسم سختی قابل تنظیم روبات دوقطبی موازی روباتیک، بهینه سازی، پای رباتیک،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
چکیده انگلیسی
The human foot is capable of adapting to various diverse terrains, and this function is due, in part, to the foot's capacity of varying its stiffness in different anatomical regions. The purpose of this study is to develop an adaptable robotic foot by emulating the human foot's arch, horizontal tie (the plantar aponeurosis, midfoot ligaments, etc.), and its ability of varying its stiffness. The robotic foot is designed, analyzed, optimized and fabricated as a semi-circular arch with a horizontal tie consisting of a Tunable Stiffness Mechanism (TSM). The active number of coils in parallel/series configuration of concentric helical springs is changed to control the stiffness of the TSM. The arch stiffness and tunable stiffness range were optimized using the epsilon constraint method. Analytical and finite element modeling results closely match the experimental validation of both the tunable axial stiffness behavior of the TSM and tunable bending stiffness of the robotic foot assembly. The results also show that the TSM is capable of varying the potential energy storage at midstance depending on the load or displacement applied. In conclusion, a robotic foot was developed to adapt to various diverse terrains through varying stiffness and therefore potential energy stored at midstance; the potential energy is then available for an elastic rebound and propulsion in the terminal phase of gait. By implementing proper control algorithms, the proposed tunable stiffness robotic foot is capable of real-time adaptations to changing terrains, which may lead to the design and development of more adaptive industrial and bipedal walking robots.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 110, April 2017, Pages 1-15
نویسندگان
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