A Study of Function of Foot’s Medial Longitudinal Arch Using Biped Humanoid Robot

Kenji Hashimoto, Yuki Takezaki, Kentaro Hattori, Hideki Kondo, Takamichi Takashima, Hun-ok Lim, and Atsuo Takanishi

Student:Cia-Sin Hung

OutlineAbstractIntroductionA. Modeling of Human’s Foot

Arch StructureB. Human-like Foot Mechanism

DesignExperimental conditionReferences

Abstractbecause a human can walk on

uneven terrain, it makes no sense for a biped robot to mimic a human’s foot structure to realize a stable walk. However, it is important to figure out the function of a human’s foot structure.

Introduction

WABIAN-2R

A. Modeling of Human’s Foot Arch Structure

The human foot has three arches; the medial longitudinal arch, the lateral longitudinal arch, and the transversal arch.

medial longitudinal arch :elastic.lateral longitudinal arch :solidity and its slight elevation compared with the medial longitudinal arch. transversal arch: elastic .

• Phase I: Heel contact phase• Phase II: Plantar contact phase• Phase III: Push-off phase• Phase IV: Swing phase

Walking-gait cycle

TABLE VISCOELASTICITY AT EACH PHASE

I II III IVElasticity k Nm/rad 19 386 488 -19Viscosity c Nm/rad2 17 24 8 3

Foot model with a rotational spring-damper.

Ankl

e-L

ate

ral Pla

nta

r

L

ate

ral To

e

Media

l Pla

nta

r

Media

l To

e

3-DOF model

The structures of foot.

B. Human-like Foot Mechanism Design

The human-like foot mechanism developed.

DOF configuration picture.

Medial longitudinal arch at phase II

Medial longitudinal arch at phase III

Date for the phase II

rotational spring constant:

Date for the phase III

Δφ (t) and Δθ (t) M(t) and Δφ (t)

TABLE II PARAMETERSl1mm l2mm l3mm l4mm R mm ψ0deg64.8 51.8 35.4 46.0 9.25 45.0

Experimental condition.

Vertical ground reaction force in a gait cycle.

References[1] M. Hirose, Y. Haikawa, T. Takenaka, and K. Hirai, “Development ofHumanoid Robot ASIMO,” Proc. of the IEEE/RSJ InternationalConference on Intelligent Robots and Systems , Workshop2, 2001.[2] K. Kaneko, et al., “Design of Advanced Leg Module for HumanoidRobotics Project of METI,” Proc. of the IEEE International Conferenceon Robotics and Automation, pp. 38-45, 2002.[3] J. Yamaguchi, A. Takanishi, and I. Kato, “Experimental Developmentof a Foot Mechanism with Shock Absorbing Material for Acquisition ofLanding Surface Position Information and Stabilization of DynamicBiped Walking,” Proc. of the IEEE International Conference onRobotics and Automation, pp. 2892-2899, 1995.[4] K. Nishiwaki, S. Kagami, J. Kuffner, M. Inaba, and H. Inoue,“Humanoid ‘JSK-H7’: Reserch Platform for Autonomous Behavior andWhole Body Motion,” Proc. of the Third IARP International Workshopon Humanoid and Human Friendly Robotics, pp. 2-9, 2002.

References[5] K. Hashimoto, Y. Sugahara, H. O. Lim and A. Takanishi, “New BipedFoot System Adaptable to Uneven Terrain,” Journal of Robotics andMechatronics, Vol. 18, No. 3, pp. 271-277, 2006.[6] K. Hashimoto, et al., “New Foot System Adaptable to Convex andConcave Surface,” Proc. of the IEEE International Conference onRobotics and Automation, pp.1869-1874, 2007.[7] M. H. Day and J. R. Napier., “Fossil foot bones,” Current Anthropology,Vol. 6, No. 4, pp. 419-420, 1965.[8] D.J. Morton., “Evolution of the longitudinal arch of the human foot,”Journal of Bone Joint Surgery, Vol. 6, pp. 56-90, 1924.[9] A. H. Schultz., “Relatives between the lengths of the main parts of thefoot skeleton in primates,” International Journal of Primatology, Vol. 1,pp. 150–171, 1963.[10] R. F. Ker, M. B. Bennett, S. R. Bibby, R. C. Kester, and R. McN.Alexander, “The spring in the arch of the human foot,” Nature, Vo. 325,pp. 147–149, 1987.

References[11] M. Harris, “Our Kind: Who We Are, Where We Came From, Where WeAre Going,” Herper Perennial, 1990.[12] Y. Ogura, H. Aikawa, K. Shimomura, H. Kondo, A. Morishima, H. O.Lim and A. Takanishi, “Development of a Humanoid RobotWABIAN-2,” Proc. of the 2006 IEEE International Conference onRobotics and Automation, pp. 76-81, 2006.[13] Y. Ogura, K. Shimomura, H. Kondo, A. Morishima, T. Okubo, S.Momoki, H. O. Lim and A. Takanishi, “Human-like Walking with KneeStretched, Heel-contact and Toe-off Motion by a Humanoid Robot,”Proc. of the 2006 IEEE/RSJ International Conference on IntelligentRobots and Systems, pp. 3976-3981, 2006.[14] I. A. Kapandji, “The Physiology of the joints: Lower limb, Volume 2,”Churchill Livingstone, 1988.[15] J. H. Hicks, “The mechanics of the foot: II. The plantar aponeurosis andthe arch,” Journal of Anatomy, Vol. 88, pp. 25-30, 1954.[16] T. Takashima, H. Fujimoto, and A. Takanishi, “Determination of thelongitudinal arch moment of the human foot complex during gait:inverse dynamics model analysis,” Transactions of the Japan Society ofMechanical Engineers. C, Vol. 68, No. 672, pp. 2425-2430, 2002. (inJapanese)

References[17] T. Takashima, H. Fujimoto, and A. Takanishi, “Analysis of the humanfoot arch viscoelasticity using the simple model of the arch supportelements,” Transactions of the Japan Society of Mechanical Engineers.C, Vol. 69, Vol. 685, 2003. (in Japanese)[18] M. Kouchi and M. Mochimaru, “AIST Research Information Database(http://riodb.ibase. aist.go.jp/riohomee.html),” H16PRO287, 2005.

Thanks for your attention