Cushion Mechanism of Goat Hoof Bulb Tissues

Abstract

The hoof bulb sections of white goats were observed via scanning electron microscopy and stereomicroscopy in order to explore the cushion mechanism in the bulb tissue microstructures of hoofed animals. The hoof bulbs consisted of multilayer tissues, including an epidermal layer, a dermal layer, and subcutaneous tissues from outside to inside. A bionic model based on hoof bulb tissue composite structures was built with a normal model as the control. The microcosmic mechanics of the bulb tissues was analyzed via the finite element method. Simulations showed that when the bionic model was impacted by the top plates at the speed of 1-10 m/s, stress was concentrated in the epidermal layer and uniformly distributed in the dermal layer and dermal papillae, which effectively reduced the impact onto the ground. The cornified epidermal layer can resist the instant impact onto the ground, while the dermal papillae embedded in the dermal layer can store, release, and dissipate the impulsive energy, and the three parts synergically act in the cushion.

Design of Bionic Foot Inspired by the Anti-Slip Cushioning Mechanism of Yak Feet

“…We discussed the influence of each parameter of the bionic foot on the cushioning effect through the orthogonal experimental design method and proved that the bionic foot phalanx-hoof ball structure had the greatest influence on the cushioning effect. The impact of the hoof ball structure on the cushioning performance was also substantiated, with previous studies elucidating the cushioning mechanism of goat hoof balls [40]. Additionally, some studies had demonstrated that footpads could store and absorb mechanical forces [44], playing a crucial role in cushioning.…”

“…The yak foot has two main hooves and two suspensory hooves, and the hooves play an important role in its locomotion [38]. And the hoof capsule, as an important part in direct contact with the ground, can instantly withstand a huge external impact, absorb the impact, and effectively reduce the vibration caused by the impact [39][40][41]. In this study, the yak hoof was taken as the research object, and the yak foot was dissected by an anatomical method and its histology was observed.…”

The Passive Contact Stability of Blue Sheep Hoof Based on Structure, Mechanical Properties, and Surface Morphology

“…But the tratum corneum surface of blue sheep hoof has lamellar and striated morphology, which has not been reported for goat so far. Meantime, layered structures were found in cross section of blue sheep hoof, while previous studies showed the goat hoof has inclined tubule structure inside (Tian et al, 2019). Those different morphology and structures of hoof may help explain why blue sheep has advantageous over goat during climbing of cliff or irregular terrains.…”

“…Similarly, Abad et al (2016) proposed a multibody compliant robotic foot inspired by goat hooves and presented analytical and experimental explanations for how the morphological computations performed by the goat hoof significantly reduce slipping on both smooth and rough surfaces. A recent experimental study of goat hooves found that pore structures with inclination angles of 55 • existed in the hoof capsule and contributed by cushioning impacts (Tian et al, 2019).…”

Design of Bionic Buffering and Vibration Reduction Foot for Legged Robots

“…As a typical quadruped, goats have an excellent ability to move, jump, and run on unstructured terrain [23,24]. As an important part of goats that directly contacts the ground, the hoof capsule could withstand a great external impact instantly, absorb the impact, and effectively reduce the vibration brought by the impact [25][26][27] The hoof capsule was dissected, and its internal structure was studied. Based on the above works, a bionic buffering and vibration reduction foot was designed.…”