The focus of this paper is the problem of foot rotation in biped robots during the single-support phase. Foot rotation is an indication of postural instability, which should be carefully treated in a dynamically stable walk and avoided altogether in a statically stable walk. We introduce the foot-rotation indicator (FRI) point, which is a point on the foot/ground-contact surface where the net g...

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...

Humans generate bipedal walking by cooperatively manipulating their complicated and redundant musculoskeletal systems to produce adaptive behaviors in diverse environments. To elucidate the mechanisms that generate adaptive human bipedal locomotion, we conduct numerical simulations based on a musculoskeletal model and a locomotor controller constructed from anatomical and physiological findings...

Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. These applications often require detection of the initial contact (IC) of the foot with the floor and/or final contact or foot off (FO) from the floor during outdoor walking. Previous investigations have reported the use of a single gyroscope placed on the shank for detection of ...

Gyroscopes have been proposed as sensors for ambulatory gait analysis and functional electrical stimulation systems. Accurate determination of the Initial Contact of the foot with the floor (IC) and the final contact or Foot Off (FO) on different terrains is important. This paper describes the evaluation of a gyroscope placed on the shank for determination of IC and FO in subjects walking outdo...

We performed basal chevron metatarsal osteotomy on 32 feet (31 patients) for painful hallux valgus associated with an increased intermetatarsal 1/2 angle (> 12 degrees). Pedobarographic and radiological examinations were done preoperatively and at a minimum of six months postoperatively. The average hallux valgus angle was improved from 40.9 degrees to 19.2 degrees and the intermetatarsal 1/2 a...

[Purpose] This study examined the effects of the intrinsic foot muscle exercise combined with interphalangeal flexion exercise on metatarsalgia with Morton's toe. [Subject] A 38-year-old male with Morton's toe, who complained of pain in his left metatarsophalangeal joints was the subject. [Methods] The pressure pain threshold, peak contact pressure of the metatarsophalangeal region during gait,...

Foot pressures were measured in 10 healthy women, while walking in high-heeled (5.91 ± 1.03 cm) and low-heeled (1.95 ± 1.06 cm) shoes. The foot was divided into seven regions. For each region the following parameters were calculated: the peak pressure (PP), pressure time integral (PTI), maximum force (MF), force time integral (FTI), contact time (CT) and contact area (CA). In high heels loading...