Application of an industrial robot in the sports domain: simulating the ground contact phase of running

摘要

Mechanical devices currently used to test sports equipment are limited to one orudtwo degrees of freedom and cannot replicate complete human movements. The purpose of thisudstudy was to investigate the capabilities of a six-degrees-of-freedom industrial robot (iRobot)udto replicate the ground contact phase of human running. The objectives were as follows: toudquantify the repeatability of the iRobot system; to assess the ability of the system to replicateudheelstrike running and forefoot running.udHigh-speed video and force plate data were collected for a single-subject heelstrike runningudand forefoot running. The iRobot was programmed to replicate the two footstrikes and then toudperform 500 cycles of each. System kinematics and ground contact forces were recorded everyudtenth cycle.udThe kinematic repeatability of the iRobot was extremely good (less than 2mmmean standarduddeviation in all marker trajectories). The peak vertical ground reaction forces showed systemicudtrends specific to the footstrike; heelstrike 3 per cent decrease and forefoot 19 per cent increaseudover the 500 cycles. iRobot replication of the footstrikes met with some success, particularlyudfor the forefoot running.udThe iRobot generated highly repeatable kinematics and demonstrated potential for applicationsudwithin the footwear industry. A number of improvements to the system were identifiedudwhich could further improve its ability to replicate human running.