筋骨格型ロボット歩行シミュレータによる足趾構造の機能

抄録

The purpose of this study is to clarify human walking from the viewpoint of musculoskeletal mechanism. In the field of rehabilitation, Rocker function explains how human musculoskeletal system generates walking motion and efficient locomotion. Once these explanations were understood, we could reconstruct it by artificial materials. In this study, the human musculoskeletal leg was developed for simulating human walk. Muscles and tendons including biarticular structure were represented by springs and cables. The simulator walked by actuating several tendon cables with servomotor. In this paper, we introduced foot structure in the robotic simulator to represent the toe rocker in Rocker function. The weakened toe force resulted in shorting of step length.