Abstract
In this study, the effects of a flat foot and series ankle spring on walking stability and efficiency are investigated with three passive dynamic walking models. These models are tuned on the same ...
Highlights
IntroductionThe walking efficiency is usually defined by mechanical energy cost of transport (mCOT),[3] which is mainly induced by the inelastic collisions between the foot and the ground
The concept of passive dynamic walking (PDW) pioneered by McGeer[1] has been widely investigated in the past several decades[2,3,4,5] for its low walking cost and human-like gait, in which both walking efficiency and stability are the major themes.The walking efficiency is usually defined by mechanical energy cost of transport,[3] which is mainly induced by the inelastic collisions between the foot and the ground
It has been known that flat foot and series ankle spring can improve the efficiency of the PDW
Summary
The walking efficiency is usually defined by mechanical energy cost of transport (mCOT),[3] which is mainly induced by the inelastic collisions between the foot and the ground. One direct method to cut down the cost is to use a designed foot, such as rolling foot[1] and flat foot.[6] Another method is to add actuations at the right locations at the right time.[7,8] Adding an energy storage device (e.g. springs) to the hip joint,[7] ankle joint,[8,9] trunk,[10] and toe joint[11] can reduce walking cost. Several models can even walk on level ground with no energy cost theoretically.[8,12] This kind of solutions can be implemented passively or partially powered, without adding much complexity to the system
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