We develop a neuromuscular simulation (NMS) controlling a simulated bipedal robot to investigate the role of GAS and SOL on the ankle push off []. Our results imply that the elastic muscle tendon properties shape the impulsive ankle push-off. For prosthesis or robot design, no complex ankle actuation is needed to obtain an impulsive ankle push-off, if sufficient mechanical complexity is incorporated.
We develop a neuromuscular simulation (NMS) controlling a simulated bipedal robot to investigate the role of GAS and SOL on the ankle push off []. Our results imply that the elastic muscle tendon properties shape the impulsive ankle push-off. For prosthesis or robot design, no complex ankle actuation is needed to obtain an impulsive ankle push-off, if sufficient mechanical complexity is incorporated.
Dynamic LocomotionConference PaperPower to the springs: Passive elements are sufficient to drive push-off in human walking
Buchmann, A., Kiss, B., Badri-Spröwitz, A., Renjewski, D.
In Robotics in Natural Settings , :21-32, Lecture Notes in Networks and Systems, 530, (Editors: Cascalho, José M. and Tokhi, Mohammad Osman and Silva, Manuel F. and Mendes, Armando and Goher, Khaled and Funk, Matthias), Springer, Cham, 25th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machine (CLAWAR 2022), August 2022 (Published)
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]. Our results imply that the elastic muscle tendon properties shape the impulsive ankle push-off. For prosthesis or robot design, no complex ankle actuation is needed to obtain an impulsive ankle push-off, if sufficient mechanical complexity is incorporated.
