Abstract
In this study, we constructed a robotic model of human lower limb to research of human movement at the moment of kicking knuckle ball FK in soccer. This is consisted of foot, knee and hip unit to reproduce the redundancy of degrees of freedom of the leg. We used an air cylinder that can output the required velocity and torque for kicking knuckle ball FK in hip unit. We simulated to verify the relative relationships between foot and ball in the space. The optimum position had determined by the farthest flying distance of the ball. Moreover, we evaluated the vector of impact force using our robotic model and results showed that flying distance of the ball is less than 5 [m], angle of ankle joint and velocity of center of each joint is less than 6[m/s].
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