Foot Modelling for Investigating Foot-Drop Problem Using Biomechanical Legs

摘要

This paper discusses the structure of biologically inspired mechanical legs and proposes a new model representation of the feet. The proposed model is developed as a research platform in order to simulate, study, and solve various cases of foot-drop problems. This research presents the overall model of biomechanical legs and illustrates in more details the structure of the ankle and toe-joints, which have direct impact on the locomotion pattern in the presence of the foot-drop problem. A case of a pathological gait with a foot-drop is presented. A conventional feedback controller is used to correct the trajectory of the ankle. The simulation results demonstrate that the trajectory of the foot is corrected and a normal gait can be exhibited.