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.
For the impulsive ankle push-off (APO) observed in human
walking two muscle-tendon-units (MTUs) spanning the ankle joint play
an important role: Gastrocnemius (GAS) and Soleus (SOL). GAS and
SOL load the Achilles tendon to store elastic energy during stance followed by a rapid energy release during APO. We use a neuromuscular
simulation (NMS) and a bipedal robot to investigate the role of GAS and
SOL on the APO. We optimize the simulation for a robust gait and then
sequentially replace the MTUs of (1) GAS, (2) SOL and (3) GAS and SOL
by linear springs. To validate the simulation, we implement NMS-3 on
a bipedal robot. Simulation and robot walk steady for all trials showing
an impulsive APO. Our results imply that the elastic MTU properties
shape the impulsive APO. For prosthesis or robot design that is, no
complex ankle actuation is needed to obtain an impulsive APO, if more
mechanical intelligence is incorporated in the design.
]. 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.