Approximating the relationship among the degree of the reaction forces and the nodes on footprint during a stance phase

Hashim, Ahmad Yusairi Bani; Osman, Noor Azuan Abu; Abas, Wan Abu Bakar Wan; Latif, Lydia Abdul

doi:10.1016/j.apm.2011.11.089

“…The data trends seen in Table II illustrate the robot behavior while in motion where Decision Rule 1 deals with the pair-wheel aligned parallelisms. Robot wobbling, on the other hand, possibly be known by Decision Rule 2 where the instantaneous vertical component of the dynamic model defined in (1c) is made related to (5), hence (7). Likewise, robot overall behavior may be summarized by Decision Rule 3 where the conditions for pair-wheel parallelisms, climb, and tumble down are shown as a unique matrix.…”

Section: Resultsmentioning

confidence: 99%

“…Likewise, robot overall behavior may be summarized by Decision Rule 3 where the conditions for pair-wheel parallelisms, climb, and tumble down are shown as a unique matrix. A similar approach was applied by Bani Hashim et al [7] where they studied the biomechanical behavior human foot that was subjected to GRFs while in the stance phase. The platform orientation with respect to the robot frame should maintain horizontal.…”

Section: Resultsmentioning

confidence: 99%

On Graph Representation and Ground Surface Profiles while a Shrimp-Designed Robot is Traveling on Unexpected Landscapes

Hashim¹

2014

JOACE

0

View full text Add to dashboard Cite

Mobile robots with shrimp design are known to be dynamic when climbing or working under rugged terrains. Due to its sturdiness, robots with shrimp configuration will be able to perform difficult tasks. This work reproduced and modified a mobile robot with shrimp structural design. A typical shrimp robot has six wheels. Its structural complexity results in a perception that it is a hard-to-build robot. For straightforwardness, our shrimp rover is represented by a graph. It has a platform module attached to two forks, at front and rear, respectively. The forks have additional suspensions, whereas the platform depends on the suspension provided by the wheels. It is known that gyroscopic effects on the rover are due to ground surface conditions. The gyroscopic effects may be analyzed by computing the joint angles and change in heights during a rover maneuver. The products of joint angle and change in height represent membership functions, which values are within certain limits. A set of decision rules were developed that define an instantaneous behavior of the robot while traveling. 

show abstract

“…In general, there are six sequences during a stance phase. A comprehensive model for a stance phase has been proposed by Hashim et al (2013). (Elftman, 1969).…”

Section: Introductionmentioning

confidence: 99%

Using worn out insole to express human foot

Hashim

¹

2019

IJBET

0

View full text Add to dashboard Cite

The human foot is unique, which is evident in its print. The purpose of this work was to determine the foot's work volume given a footprint. Five volunteers participated in the study who supplied their used shoes. The insole images were processed to find the effective regions. The correct spots were identified and were marked. The drawn footprints looked similar geometrically; however, each footprint had a different node positions profile. The aspect ratio of the foot length, width, and height congregated to 3:1:1, and the footprint angle was 30 degrees. The actual plots revealed that the ranges of the foot length ratio and the footprint angle were 2.20 to 3.00, and 30 degrees to 45 degrees, respectively. Therefore, the human foot identity may be expressed by simple measurements of the foot height, the foot width, the foot height following the standardised node locations.

show abstract

“…In general, there are six sequences during a stance phase. A comprehensive model for a stance phase has been proposed by Hashim et al (2013). (Elftman, 1969).…”

Section: Introductionmentioning

confidence: 99%

Using worn out insole to express human foot

Hashim

¹

2019

IJBET

0

View full text Add to dashboard Cite

The human foot is unique, which is evident in its print. The purpose of this work was to determine the foot's work volume given a footprint. Five volunteers participated in the study who supplied their used shoes. The insole images were processed to find the effective regions. The correct spots were identified and were marked. The drawn footprints looked similar geometrically; however, each footprint had a different node positions profile. The aspect ratio of the foot length, width, and height congregated to 3:1:1, and the footprint angle was 30 degrees. The actual plots revealed that the ranges of the foot length ratio and the footprint angle were 2.20 to 3.00, and 30 degrees to 45 degrees, respectively. Therefore, the human foot identity may be expressed by simple measurements of the foot height, the foot width, the foot height following the standardised node locations.

show abstract

Approximating the relationship among the degree of the reaction forces and the nodes on footprint during a stance phase

Cited by 3 publications

References 13 publications

On Graph Representation and Ground Surface Profiles while a Shrimp-Designed Robot is Traveling on Unexpected Landscapes

On Graph Representation and Ground Surface Profiles while a Shrimp-Designed Robot is Traveling on Unexpected Landscapes

Using worn out insole to express human foot

Using worn out insole to express human foot

Contact Info

Product

Resources

About