2A1-I02 Development of Musculoskeletal Gait Simulator with Real Foot Model based on CT-scanned human foot(Mobiligence and Embodiment)

Abstract

A human foot complex consists of a flexible flesh and many muscles, ligaments, and bones. Structured compliance provided by the complex structure is supposed to contribute to efficient and stable bipedal locomotion. Detailed behavior of the foot complex during walking, however, is not well understood . We built a gait simulator driven by pneumatic musculoskeletal system in order to clarify the mechanism of a human walking by using the gait simulator with a cadaver foot. This gait simulator duplicates the double support phase in experiment environment. We also made realistic foot model with bones and artificial skin as a test model of new robot foot for testing the performance of the gait simulator.