Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 06, 2023 - March 07, 2023
Understanding of the musculoskeletal structure of the lower limb to realize human gait will provide important knowledge in the field of rehabilitation and other fields. In this research, we aim to construct a musculoskeletal robotic gait simulator to reproduce human gait by driving some muscles. This research is not a study of a biped robot, but a biomechanical study of human gait. In this paper, we refered to human gait as rocker function and attempted to construct a gait by focusing on the forefoot rocker among the four rocker functions. Forefoot rocker was reproduced by driving the gastrocnemius muscle at the same timing as humans. However, knee flexion occurred because the gastrocnemius was driven strongly. The rectus femoris muscle was adjusted to accommodate this. This resulted in the development of a forefoot rocker and a decrease in the amount of center of gravity drop. In addition, the robot was able to generate a subsequent gait, which is reported here.
