The Energetic Cost of Adaptive Feet in Walking 12. 9, 2011 - - PowerPoint PPT Presentation

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the energetic cost of adaptive feet in walking
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The Energetic Cost of Adaptive Feet in Walking 12. 9, 2011 - - PowerPoint PPT Presentation

Aug 11, 2023 131 likes •286 views

The Energetic Cost of Adaptive Feet in Walking 12. 9, 2011 Seungmoon Song and Hartmut Geyer Robotics Institute Carnegie Mellon University W911NR-11-1-0098 Related Studies Variable height (Kang et al., 2010) Variable stiffness (Hashimoto et

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  • 12. 9, 2011

Seungmoon Song and Hartmut Geyer Robotics Institute Carnegie Mellon University

The Energetic Cost of Adaptive Feet in Walking

W911NR-11-1-0098

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Related Studies

Variable height (Kang et al., 2010) Variable stiffness (Hashimoto et al., 2010) Toe (Zhang et al., 2010, Zhu et al., 2011)

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Stiffness change (Briggs et al., 2001) Ball cushion (Bojsen-Moller et al., 1976) Windlass mechanism (Hicks, 1954)

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How Much Do We Pay for Adaptive Feet?

Baseline foot Human foot Absorbs impacts Provides secure grip Requires additional muscles Provides less power transfer

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Baseline foot Human foot

How Much Do We Pay for Adaptive Feet?

  • 1. Neuromuscular Model
  • 3. Future Direction
  • 2. Results

Contents

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(Hicks, 1954 II, Bolgla et al., 2004) 3/10

The Windlass Mechanism

1 ~ 2cm

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Baseline foot Human foot

How Much Do We Pay for Adaptive Feet?

  • 1. Neuromuscular Model
  • 3. Future Direction
  • 2. Results

TFL, TEX (Yamaguchi et al., 1990), PF (Gunther et al., 2002), MTJ (Hashimoto et. al, 2010)

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Model Human

Control algorithm for robotic platforms Research platform for understanding human

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Neuromuscular Model

(Geyer et al., 2010)

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Energy rate (Umberger, 2003), CMA-ES (Hansen, 2006)

Target speed Pain Energy cost

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Neuromuscular Model: Optimization (CMA-ES)

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Baseline foot Human foot

How Much Do We Pay for Adaptive Feet?

  • 1. Neuromuscular Model
  • 3. Future Direction
  • 2. Results
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Baseline, 0.8ms-1 Human, 1.8ms-1 6/10

Neuromuscular Model: Simulation

Human walking speed (Murray et al., 1984)

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Result I: Human Feet Incur About 20% More Energetic Cost up to 1.2ms-1

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Result II: Passive Feet Reduces the Energetic Cost by 15% or More

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Baseline foot Human foot

How Much Do We Pay for Adaptive Feet?

  • 1. Neuromuscular Model
  • 3. Future Direction
  • 2. Results
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Simulation studies to interpret the result Development of a robotic foot

Current and Future Directions

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  • 1. Human Feet Incur About 20% More

Energetic Cost up to 1.2ms-1

  • 2. Passive Feet Reduces the Energetic

Cost by 15% or more

Conclusion

10/10