Exploiting 3D printing technology to develop robotic running foot for footwear testing

摘要

Results of modern automatic footwear testing technology based on the biomechanics of the human foot have limitations due to use of the passive imitative foot. On the other hand, many studies on the humanoid walking robot, orthotic ankle, and prosthesis for amputees have been presented. However, these studies only focused on the ankle joint and walking gait. In this paper, the authors proposed a framework for developing a robotic running foot-leg for footwear testing. This prosthesis has four controlled degrees of freedom at the hip, knee, ankle and metatarsophalangeal joints. Along with two active joints (i.e. the ankle and metatarsophalangeal joints) and one passive joint (i.e. the midtarsal joint), the foot model also includes the windlass mechanism formed by the hindfoot, metatarsals and plantar fascia springs. In addition, the framework includes iteration for rapid prototyping and developing the cover of the robotic foot by simultaneous multi-material 3D printing technology.