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Title: Modelling, design, and control of a robotic running foot for footwear testing with flexible actuator
Authors: Do, Thanh Nho
Nguyen, Thanh Luan
Lau, Michael Wai Shing
Phee, Soo Jay
Keywords: DRNTU::Science::Physics::Weights and measures
Issue Date: 2014
Source: Nguyen, T. L., Do, T. N., Lau, M. W. S., & Phee, S. J. (2014). Modelling, design, and control of a robotic running foot for footwear testing with flexible actuator. The 1st International Conference in Sports Science & Technology (ICSST), Singapore, 2014, 505-514.
Conference: The 1st International Conference in Sports Science & Technology (ICSST)
Abstract: Footwear effects on the human feet have been widely studied to prevent injuries, improve sports performance, and human health through running exercise. Due to the dynamics of human joints and passive imitative feet, current automatic footwear testing systems reported in the literature are not very realistic, are limited in the imitation of running gaits, and still use the passive prosthetic foot. In addition, many studies on humanoid walking robots, orthotic ankles, and prosthetic foot for amputees only focus on the human ankle joint and walking gaits. In this project, the design and control of a realistic robotic running foot-leg testing of shoes are introduced. The designed robotic foot possesses a higher number of degrees of freedom compared to other robotic systems in the literature and have abilities to mimic accurately biomechanical patterns of the human foot as well as to replicate the plantar pressure distribution under the foot sole in running in the sagittal plane. Because of lightweight, flexibility, and ease of power transmission, the Bowden-cable or the tendon- sheath mechanism (TSM) is used in this project for the actuation of the robotic joints. However, nonlinear friction and backlash hysteresis in such mechanisms vary with the change of cable configuration and they degrade the system performances. In this project, novel nonlinear and adaptive schemes for controlling the position of the ankle and metatarsophalangeal joints will also be presented. The control schemes consider the nonlinear and backlash hysteresis as uncertainties and are able to deal with unexpected disturbances due to the change of the cable configuration and the unknown environments. In addition, no knowledge of the model parameters is required. To validate the design systems and control approaches, simulations are also introduced. There are good agreements between the proposed approaches and simulation results.
Schools: School of Mechanical and Aerospace Engineering 
Research Centres: Robotics Research Centre 
Rights: © 2014 The Authors (published in 1st International Conference in Sports Science & Technology). This paper was published in The 1st International Conference in Sports Science & Technology (ICSST) and is made available as an electronic reprint (preprint) with permission of 1st International Conference in Sports Science & Technology. The paper can be found at the following official URL: []. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers

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