Robotics & Control
Robot foot design with plantar arch
It is a well known fact in the field of biomechanics that human’s plantar arch is used very efficiently during walking. It carries the part of the propulsion at the push off phase and the absorption at the heel touch phase by changing its shape with the viscoelastic properties. We focus here on the flexibility that the plantar arch has. In particular, it absorbs the ground asperity by its deformation and its viscoelastic property. We conducted walk experiment and confirmed the efficiency of the plantar arch on an irregular ground. We analyzed the joint torque of the leg joints. Finally we propose a passive orthotic device of the foot that reproduces the plantar deformations.