Power to the Springs: Passive Elements are Sufficient to Drive Push-Off in Human Walking
نویسندگان
چکیده
For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning joint play an important role: Gastrocnemius (GAS) and Soleus (SOL). GAS SOL load Achilles tendon to store elastic energy during stance followed by a rapid release APO. We use neuromuscular simulation (NMS) bipedal robot investigate role of on optimize for robust gait then sequentially replace MTUs (1) GAS, (2) (3) linear springs. To validate simulation, we implement NMS-3 robot. Simulation walk steady all trials showing Our results imply that MTU properties shape prosthesis or design is, no complex actuation is needed obtain APO, if more mechanical intelligence incorporated design.
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ژورنال
عنوان ژورنال: Lecture notes in networks and systems
سال: 2022
ISSN: ['2367-3370', '2367-3389']
DOI: https://doi.org/10.1007/978-3-031-15226-9_5