Abstract
It is known that a passive dynamic walk for a biped robot is stabilized by limiting its angle of the ankle of the stance leg. Since the passive dynamic walk has a similarity with a relaxed human walking, it is anticipated that the ankle angle limitation also contributes to stabilize a human walk. In previous researches, we realized this ankle angle limitation mechanism into human shoes, and showed the stability effect of this shoes by recording integral EMG signals at the muscles that are known to contribute to posture control of a leg. In this paper, we show that the proposing shoes do not produce unnatural ankle torque and thus lighten load of legs in natural way during a walk. The analysis is done by the gait analysis using 3D motion sensors with force plates.
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