Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human
Joint Mechanism Coping with Both of Active Pushing-off and Joint Stiffness Based on Human
复制标题
DOI：
10.1007/978-3-319-33714-2_27
复制
发表时间：
2016-06
期刊：
影响因子：
--
通讯作者：
T. Otani;K. Hashimoto;Takaya Isomichi;Shunsuke Miyamae;M. Sakaguchi;Y. Kawakami;Hun-ok Lim;A. Tak
中科院分区：
文献类型：
--
作者：
T. Otani;K. Hashimoto;Takaya Isomichi;Shunsuke Miyamae;M. Sakaguchi;Y. Kawakami;Hun-ok Lim;A. Tak
采用弹簧倒立摆（SLIP）模拟人体稳态跑步。然而，人类在开始跑步时会主动地离开地面。在这项研究中，我们描述了一种膝关节机制，用于应对持续跑步所需的主动推离和关节僵硬。为了实现这一点，膝盖配备有一个机构，该机构包括一个蜗轮，该蜗轮提高了扭矩传递效率，以便实现主动运动，以及两个层压板簧，用于模仿关节刚度。我们评估了层压钢板弹簧的性能，并进行了实验，在该实验中，开发的运行机器人开始运行。使用所提出的机制，该机器人可以完成跳跃与主动推离运动，并继续运行利用其关节弹性。
Human steady running is modeled using a spring-loaded inverted pendulum (SLIP). However, human pushes off the ground actively when starting to run. In this study, we describe a knee joint mechanism for coping with both of an active pushing-off and joint stiffness needed to continue running. To achieve this, knee is equipped with a mechanism comprising a worm gear that improves torque transmission efficiency in order to achieve active movement and two laminated leaf springs for mimicking joint stiffness. We evaluated the performance of the laminated leaf spring and performed an experiment in which the developed running robot started to run. Using the proposed mechanisms, this robot could accomplish hopping with an active pushing-off motion and continued to run using its joint elasticity.