This paper describes a tactile sensing system based on a force/torque sensor for the feet of a pipe crawling robot. Such a sensing system is needed for better optimization of force and joint load distribution and a safer avoidance of the risk of foot slippage. While conventional tactile sensing devices typically provide information concerning the spatial distribution of normal pressures, the in...

The zero moment point (ZMP), foot rotation indicator (FRI) and centroidal moment pivot (CMP) are important ground reference points used for motion identification and control in biomechanics and legged robotics. In this paper, we study these reference points for normal human walking, and discuss their applicability in legged machine control. Since the FRI was proposed as an indicator of foot rot...

Abstract When modeling gears by means of roller analogues it is necessary to take into account that the degree slippage equal zero in meshing pole gears, thecontact zone ofinitial circles gears. The greatest occurs between tooth head master gear and foot driven gear, gear. Thus, simulation wear process wheels with counterparts achieved ensuring equality geometric kinematic parameters (radii con...

This paper presents the design and analysis of a reduced degree-of-freedom Robotic Modular Leg (RML) mechanism used to construct a quadruped robot. This mechanism enables the robot to perform forward and steering locomotion with fewer actuators than conventional quadruped robots. The RML is composed of a double four-bar mechanism that maintains foot orientation parallel to the base and decouple...

This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's...

AIM The first aim of this study was to assess how changes in the mechanical characteristics of the foot/shoe-ground interface affect spatio-temporal variables, ground pressure distribution, sagittal plane kinematics, and running economy in 8 experienced barefoot runners. The second aim was to assess if a special lightweight shoe (Vibram Fivefingers) was effective in mimic the experience of bare...

OBJECTIVES The purpose of this study was to examine the correlation between the foot arch volume measured from static positions and the plantar pressure distribution during walking. METHODS A total of 27 children, two to six years of age, were included in this study. Measurements of static foot posture were obtained, including navicular height and foot arch volume in sitting and standing posi...

Underactuation, impulsive nature of the impact with the environment, the existence of feet structure and the large number of degrees of freedom are the basic problems in control of the biped robots. Underactuation is naturally associated with dexterity [1]. For example, headstands are considered dexterous. In this case, the contact point between the body and the ground is acting as a pivot with...

OBJECTIVE Pressure mitigation is crucial for the healing of plantar diabetic foot ulcers. We therefore discuss characteristics and considerations associated with the use of offloading devices. RESEARCH DESIGN AND METHODS A diabetic foot ulcer management survey was sent to foot clinics in all 50 states and the District of Columbia in 2005. A total of 901 geographically diverse centers responde...