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Design and Prototyping and Experimental Analysis of a Foot with Toe Joint for Exoskeletons

Rostami Barooji, Hosein | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51936 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Golam Reza
  7. Abstract:
  8. One of the recent studies in the field of humanoid robots is to achieve a robot gait close to the human-like gait. Therefore, using the foot equipped with passive or active toe joint is developed in case of robots. The results of several studies show that the segmented foot with a toe joint has several advantages compared to the rigid foot in: walking speed, range of joint angle and ability to kneel and climb higher steps. Both passive and active toe joints of humanoid robots are developed. Advantages of the passive toe joint is obvious; in terms of design, it is more simple and light. Moreover, in normal gait, when the robot is equipped with passive toe joint, body inertial causes an automatically rise in heel vertical displacement so that it is no need to apply torque. Conversely, active toe joint is not cost effective. The idea of using the foot equipped with toe joint can be extended to exoskeletons. However, no research has been implemented in this context. The aim of present study is to design, prototyping and evaluation of the exoskeleton foot equipped with passive toe joint. This designed foot is suitable for exoskeleton prototype built in Sharif University of Technology. Evaluation results show the convenience in walking with the exoskeleton equipped with toe joint
  9. Keywords:
  10. Lower Limbs ; Lower Limb Exoskeleton ; Toe Joint ; Feet ; Exoskeleton ; Humanoid Robot

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