Analysis of Wormlike Robotic Locomotion on Compliant Surfaces

2011 ◽  
Vol 58 (2) ◽  
pp. 301-309 ◽  
Author(s):  
David Zarrouk ◽  
Inna Sharf ◽  
Moshe Shoham
Keyword(s):  
Robotic Locomotion ◽  
Compliant Surfaces

Spectral analysis of the human body sway during standing on firm and compliant surfaces under different visual conditions

2016 ◽  
Vol 42 (6) ◽  
pp. 626-633 ◽  
Author(s):  
B. N. Smetanin ◽  
G. V. Kozhina ◽  
A. K. Popov ◽  
Y. S. Levik
Keyword(s):  
Spectral Analysis ◽  
Human Body ◽  
Body Sway ◽  
Compliant Surfaces ◽  
Visual Conditions

Energetic analysis and experiments of earthworm-like locomotion with compliant surfaces

2016 ◽  
Vol 11 (1) ◽  
pp. 014001 ◽  
Author(s):  
David Zarrouk ◽  
Inna Sharf ◽  
Moshe Shoham
Keyword(s):  
Compliant Surfaces ◽  
Energetic Analysis

scholarly journals Polychaete-like Undulatory Robotic Locomotion

2006 ◽  
Author(s):  
D.P. Tsakiris ◽  
M. Sfakiotakis ◽  
A. Menciassi ◽  
G. la Spina ◽  
P. Dario
Keyword(s):  
Robotic Locomotion

scholarly journals Neuromechanical adaptations of foot function to changes in surface stiffness during hopping

2021 ◽  
Author(s):  
Jonathon V. Birch ◽  
Luke A. Kelly ◽  
Andrew G. Cresswell ◽  
Sharon J. Dixon ◽  
Dominic J. Farris
Keyword(s):  
Muscle Activation ◽  
Center Of Mass ◽  
Lower Limbs ◽  
Foot And Ankle ◽  
High Stiffness ◽  
Movement Strategies ◽  
Compliant Surfaces ◽  
Foot Function ◽  
Intrinsic Muscles ◽  
Ankle Mechanics

Humans choose work-minimizing movement strategies when interacting with compliant surfaces. Our ankles are credited with stiffening our lower limbs and maintaining the excursion of our body's center of mass on a range of surface stiffnesses. We may also be able to stiffen our feet through an active contribution from our plantar intrinsic muscles (PIMs) on such surfaces. However, traditional modelling of the ankle joint has masked this contribution. We compared foot and ankle mechanics and muscle activation on Low, Medium and High stiffness surfaces during bilateral hopping using a traditional and anatomical ankle model. The traditional ankle model overestimated work and underestimated quasi-stiffness compared to the anatomical model. Hopping on a low stiffness surface resulted in less longitudinal arch compression with respect to the high stiffness surface. However, because midfoot torque was also reduced, midfoot quasi-stiffness remained unchanged. We observed lower activation of the PIMs, soleus and tibialis anterior on the low and medium stiffness conditions, which paralleled the pattern we saw in the work performed by the foot and ankle. Rather than performing unnecessary work, participants altered their landing posture to harness the energy stored by the sprung surface in the low and medium conditions. These findings highlight our preference to minimize mechanical work when transitioning to compliant surfaces and highlight the importance of considering the foot as an active, multi-articular, part of the human leg.

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