Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking

Yixiang Liu; Xizhe Zang; Niansong Zhang; Yubin Liu; Ming Wu

doi:10.1109/ICIST.2018.8426106

Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking

Yixiang Liu
, Xizhe Zang^*
, Niansong Zhang
, Yubin Liu
, Ming Wu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology
School of Mechatronics Engineering, Harbin Institute of Technology
Rehabilitation Institute of Chicago
Northwestern University
Nanjing University of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

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.

Original language	English
Title of host publication	8th International Conference on Information Science and Technology, ICIST 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	395-400
Number of pages	6
ISBN (Print)	9781538637814
DOIs	https://doi.org/10.1109/ICIST.2018.8426106
State	Published - 6 Aug 2018
Event	8th International Conference on Information Science and Technology, ICIST 2018 - Cordoba, Granada, and Seville, Spain Duration: 30 Jun 2018 → 6 Jul 2018

Publication series

Name	8th International Conference on Information Science and Technology, ICIST 2018

Conference

Conference	8th International Conference on Information Science and Technology, ICIST 2018
Country/Territory	Spain
City	Cordoba, Granada, and Seville
Period	30/06/18 → 6/07/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

biped robots
bipedal walking
gait analysis metatarsophalangeal joint
joint kinetics

Access to Document

10.1109/ICIST.2018.8426106

Cite this

Liu, Y., Zang, X., Zhang, N., Liu, Y., & Wu, M. (2018). Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking. In 8th International Conference on Information Science and Technology, ICIST 2018 (pp. 395-400). Article 8426106 (8th International Conference on Information Science and Technology, ICIST 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIST.2018.8426106

Liu, Yixiang ; Zang, Xizhe ; Zhang, Niansong et al. / Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking. 8th International Conference on Information Science and Technology, ICIST 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 395-400 (8th International Conference on Information Science and Technology, ICIST 2018).

@inproceedings{8cc9961836e64fe5b3e099e712b9a4b3,

title = "Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking",

abstract = "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.",

keywords = "biped robots, bipedal walking, gait analysis metatarsophalangeal joint, joint kinetics",

author = "Yixiang Liu and Xizhe Zang and Niansong Zhang and Yubin Liu and Ming Wu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 8th International Conference on Information Science and Technology, ICIST 2018 ; Conference date: 30-06-2018 Through 06-07-2018",

year = "2018",

month = aug,

day = "6",

doi = "10.1109/ICIST.2018.8426106",

language = "英语",

isbn = "9781538637814",

series = "8th International Conference on Information Science and Technology, ICIST 2018",

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address = "美国",

}

Liu, Y, Zang, X, Zhang, N, Liu, Y & Wu, M 2018, Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking. in 8th International Conference on Information Science and Technology, ICIST 2018., 8426106, 8th International Conference on Information Science and Technology, ICIST 2018, Institute of Electrical and Electronics Engineers Inc., pp. 395-400, 8th International Conference on Information Science and Technology, ICIST 2018, Cordoba, Granada, and Seville, Spain, 30/06/18. https://doi.org/10.1109/ICIST.2018.8426106

Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking. / Liu, Yixiang; Zang, Xizhe; Zhang, Niansong et al.
8th International Conference on Information Science and Technology, ICIST 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 395-400 8426106 (8th International Conference on Information Science and Technology, ICIST 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking

AU - Liu, Yixiang

AU - Zang, Xizhe

AU - Zhang, Niansong

AU - Liu, Yubin

AU - Wu, Ming

PY - 2018/8/6

Y1 - 2018/8/6

N2 - 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.

AB - 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.

KW - biped robots

KW - bipedal walking

KW - gait analysis metatarsophalangeal joint

KW - joint kinetics

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DO - 10.1109/ICIST.2018.8426106

M3 - 会议稿件

AN - SCOPUS:85052392372

SN - 9781538637814

T3 - 8th International Conference on Information Science and Technology, ICIST 2018

SP - 395

EP - 400

BT - 8th International Conference on Information Science and Technology, ICIST 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 8th International Conference on Information Science and Technology, ICIST 2018

Y2 - 30 June 2018 through 6 July 2018

ER -

Liu Y, Zang X, Zhang N, Liu Y, Wu M. Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking. In 8th International Conference on Information Science and Technology, ICIST 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 395-400. 8426106. (8th International Conference on Information Science and Technology, ICIST 2018). doi: 10.1109/ICIST.2018.8426106

Effects of unilateral restriction of the metatarsophalangeal joints on biped robot walking

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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