title: Robots in human biomechanics--a study on ankle push-off in walking.
abstract: In biomechanics, explanatory template models are used to identify the basic mechanisms of human locomotion. However, model predictions often lack verification in a realistic environment. We present a method that uses template model mechanics as a blueprint for a bipedal robot and a corresponding computer simulation. The hypotheses derived from template model studies concerning the function of heel-off in walking are analysed and discrepancies between the template model and its real-world anchor are pointed out. Neither extending the ground clearance of the swinging leg nor an impact reduction at touch-down as an effect of heel lifting was supported by the experiments. To confirm the relevance of the experimental findings, a comparison of robot data to human walking data is discussed and we speculate on an alternative explanation of heel-off in human walking, i.e. that the push-off powers the following leg swing.
authors.affiliation: Lauflabor Locomotion Laboratory, Friedrich-Schiller-Universität Jena, JenTower 18.OG, Leutragraben 1, 07743 Jena, Germany. renjewski@ieee.org
authors.forename: Daniel
authors.initials: D
authors.lastname: Renjewski
authors.forename: André
authors.initials: A
authors.lastname: Seyfarth
mesh_terms: D000843:Ankle Joint / Q000502:physiology*; D040761:Biomimetic Materials; D032701:Biomimetics / Q000295:instrumentation*; D003198:Computer Simulation; D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006621:Hip Joint / Q000502:physiology*; D006801:Humans; D007719:Knee Joint / Q000502:physiology*; D008954:Models, Biological; D012371:Robotics / Q000295:instrumentation*; D016138:Walking / Q000502:physiology*