Understanding Human's Adaptive Bipedal Walking by Using a Cadaver Feet/ Artificial Muscular-Skeleton Hybrid Robot

2015 Fiscal Year Final Research Report

• Project/Area Number: 23220004
• Research Category: Grant-in-Aid for Scientific Research (S)
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Osaka University
• Principal Investigator: Hosoda Koh 大阪大学, 基礎工学研究科, 教授 (10252610)
• Co-Investigator(Kenkyū-buntansha): OGIHARA Naomichi 慶應義塾大学, 理工学部, 教授 (70324605) ; IMANISHI Nobuaki 慶應義塾大学, 医学部, 准教授 (00184820) ; NAGURA Takeo 慶應義塾大学, 医学部, 准教授 (90306746) ; SHIMIZU Masahiro 大阪大学, 大学院基礎工学研究科, 准教授 (50447140) ; IKEMOTO Shuhei 大阪大学, 大学院基礎工学研究科, 助教 (00588353) ; SUGAMOTO Kazuomi 大阪大学, 医学系研究科, 寄付講座教授 (40294061) ; NARIOKA Kenichi 大阪大学, 大学院情報科学研究科, 研究員 (30588356)
• Research Collaborator: MACEDO ROSENDO Andre Luis ; ITO Kohta
• Project Period (FY): 2011-04-01 – 2016-03-31
• Keywords: ヒト二足歩行 / 足部機構 / 二方向エックス線透過装置 / 歩行解析 / 二足歩行ロボット

Outline of Final Research Achievements

This project studies dynamic property of a human foot without any projection from the brain nor spinal cord. We have developed a platform to observe motions of bones inside the foot by biplanar X-ray fluoroscopy while a walking simulator applies proper ground reaction force/displacement to a cadaver foot. Design of the walking simulators and image processing to reconstruct 3D precise motion from fluoroscopy are developed.
The project focuses on the mechanism of the mid-foot joint, and develops a humanoid robot for investigating the effect of the joint to walking stability. Experimental results demonstrate contribution of the joint for walking stability.

Free Research Field

ロボティクス