Design of a bioinspired tunable stiffness robotic foot
Design of a bioinspired tunable stiffness robotic foot
复制标题
仿生可调刚度机械足的设计
DOI：
10.1016/j.mechmachtheory.2016.12.003
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发表时间：
2017-04
影响因子：
5.2
通讯作者：
Johnson S
中科院分区：
文献类型：
--
作者：
Qaiser Zeeshan;Kang Liping;Johnson S
人的脚能够适应各种不同的地形，并且这种功能部分地是由于脚在不同解剖区域中改变其刚度的能力。本研究的目的是通过模仿人足的足弓、水平系带（足底腱膜、中足韧带等），以及改变其刚度的能力。机器人脚的设计，分析，优化和制造作为一个半圆形的拱形与水平领带组成的可调刚度机构（TSM）。改变同心螺旋弹簧并联/串联配置中的有效线圈数量以控制TSM的刚度。采用弹性约束法对拱的刚度和刚度可调范围进行了优化。分析和有限元建模结果与TSM的可调轴向刚度行为和机器人脚组件的可调弯曲刚度的实验验证密切匹配。结果还表明，TSM是能够改变的势能存储在中期取决于所施加的负载或位移。总之，机器人脚的开发，以适应各种不同的地形，通过不同的刚度，因此在站立中期存储的势能;势能，然后可用于弹性反弹和推进在步态的终端阶段。通过实施适当的控制算法，所提出的可调刚度机器人脚能够实时适应不断变化的地形，这可能会导致设计和开发更具适应性的工业和双足步行机器人。
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.
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DOI：
10.1016/s0278-6125(98)80070-8
发表时间：
1998
期刊：
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影响因子：
--
作者：
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通讯作者：
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影响因子：
5.7
作者：
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通讯作者：
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DOI：
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发表时间：
2013-02
期刊：
Journal of Mechanisms and Robotics
影响因子：
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作者：
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通讯作者：
Kevin C. Galloway;Jonathan E. Clark;D. Koditschek
影响因子：
2.9
作者：
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通讯作者：
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DOI：
10.1016/j.mechmachtheory.2006.03.018
发表时间：
2004-03
期刊：
ArXiv
影响因子：
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作者：
F. Majou;C. Gosselin;P. Wenger;D. Chablat
通讯作者：
F. Majou;C. Gosselin;P. Wenger;D. Chablat