吉林大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (1): 205-211.doi: 10.13229/j.cnki.jdxbgxb20170006

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Completely passive walking machine with bionic subtalar joint and matatarsal phalangeal joint

QIAN Zhi-hui1, ZHOU Liang1, REN Lei1, 2, REN Lu-quan1   

  1. 1. Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun, 130022, China;
    2. School of Mechanical, Aerospace and Civil Engineering, University of Manchester, Manchester M13 9PL,UK
  • Received:2017-01-02 Online:2018-02-26 Published:2018-02-26

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Abstract: Based on anatomical configuration of human foot joints, a completely passive walking machine was developed with bionic subtalar joint (the joint axis of the sagittal plane is 45 degrees) and matatarsal phalangeal joint (add toe), realizing stable walking on slope. The optimum height of the walking machine was determined by single factor measurement. The influences of three factors, the height, the distance between two legs and toes or without toes of the walking machine, on the stable walking performance of the walking machine were analyzed by using multi-factor mixed-level orthogonal test design. Within the scope of the study, the distance between two legs played the most significant role on the walking performance (the stable walking distance and walking speed). Compared with the leg distance, with or without toes (metatarsal phalangeal joint) in the foot has a secondary influence on walking speed, while the height of the walking machine has secondary influence on the maximum walking distance.

Key words: engineering bionics, passive dynamic walking, oblique axis of joint, bionic design, steady walking, mixed-level orthogonal test design

CLC Number: 

  • TB17
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