2023
DOI: 10.3389/frobt.2023.1187297
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The experimental investigation of foot slip-turning motion of the musculoskeletal robot on toe joints

Kawinna Nipatphonsakun,
Takumi Kawasetsu,
Koh Hosoda

Abstract: Owing to their complex structural design and control system, musculoskeletal robots struggle to execute complicated tasks such as turning with their limited range of motion. This study investigates the utilization of passive toe joints in the foot slip-turning motion of a musculoskeletal robot to turn on its toes with minimum movements to reach the desired angle while increasing the turning angle and its range of mobility. The different conditions of plantar intrinsic muscles (PIM) were also studied in the exp… Show more

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