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Effects of Unilateral Restriction of the Metatarsophalangeal Joints on Biped Robot Walking

机译：单方面限制跖骨膜关节对双层机器人走路的影响

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摘要

The metatarsophalangeal (MTP) joints play critical roles in the push-off phase of human locomotion, but are usually absent in biped robots. Our previous research found that when the unilateral MTP joints were restricted, non-disabled subjects exerted a compensatory mechanism, that is, the intact limb was relied more than the restricted limb. This paper aims to study the effects of unilateral restrictions of the MTP joints on biped robot walking. Gait performance of a biped robot model was analyzed under two conditions, i.e., walking normally, and walking with the MTP joints of the right foot restricted. The results show that unilateral restrictions of the MTP joints lead to larger demands for driving torque and power on partial joints, more total energy consumption, and lower energy efficiency. These results can help understand the functions of the MTP joints in more depth, and offer some inspirations to the researches of biped robots.
机译：跖趾（MTP）关节在人类运动的推迟阶段发挥关键作用，但通常在Biped机器人中缺席。我们以前的研究发现，当单侧MTP关节受到限制时，非残疾人受试者施加补偿机制，即完整肢体依赖于限制的肢体。本文旨在研究单方面限制MTP关节对Biped机器人行走的影响。在两个条件下分析了双方机器人模型的步态性能，即通常行走，并与右脚的MTP接头进行限制。结果表明，MTP关节的单侧限制导致对扭矩和局部关节上的功率的更大要求，更高能耗，更低的能量效率。这些结果可以帮助了解MTP关节更深入的功能，并对Biped机器人的研究提供一些启示。

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