NDLI: Effect of Heel to Toe Walking on Time Optimal Walking of a Biped During Single Support Phase

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Farizeh, Tara Sadigh, Mohammad Jafar
Copyright Year	2014
Abstract	Dynamic modeling of a biped has gained lots of attention during past few decades. While stability and energy consumption were among the first issues which were considered by researchers, nowadays achieving maximum speed and improving pattern of motion to reach that speed are the important targets in this field. Walking model of bipeds usually includes two phases, single support phase (SSP), in which only the stance foot is in contact with the ground while the opposite leg is swinging; and double support phase (DSP) in which the swing leg is in contact with the ground in addition to the rear foot. It is common in the simplified model of walking to assume the stance leg foot, flat during the entire SSP; but one may know that for human walking, there is also a sub-phase during SSP in which the heel of stance foot leaves the ground while the whole body is supported by toe link. Actually in this sub phase the stance leg foot rotates around the toe joint. This paper is trying to study the effect of toe-link and heel to toe walking model on dynamic and specially speed of walking compare to flat foot model.
File Format	PDF
ISBN	9780791846469
DOI	10.1115/IMECE2014-38214
Volume Number	Volume 3: Biomedical and Biotechnology Engineering
Conference Proceedings	ASME 2014 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2014-11-14
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Energy consumption Dynamic modeling Stability
Content Type	Text
Resource Type	Article

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