Simulation of Human Foot Mechanism with a Degree of Freedom Motion
الموضوعات : فصلنامه شبیه سازی و تحلیل تکنولوژی های نوین در مهندسی مکانیکدامون بختیاریان 1 , هادی همایی 2 , امین ملکی زاده 3 , مراد شهبازی تک آبی 4
1 - دانشجوی کارشناسی ارشد، دانشکده مکانیک، دانشگاه شهرکرد
2 - دانشیار، دانشکده مکانیک، دانشگاه شهرکرد
3 - دانشجوی دکتری، دانشکده مهندسی، دانشگاه امیرکبیر
4 - کارشناس ارشد، فارق التحصیل دانشگاه امیر کبیر
الکلمات المفتاحية: Human foot biomechanics, Inactive dynamics, Six-bar mechanism, particle swarm optimization algorithm, Kinematic analysis,
ملخص المقالة :
The need for simulation of human foot mechanism has made researchers and engineers move towards different patterns to describe this movement. In this regard, optimal solutions such as energy consumption, accuracy, etc. are of utmost importance. In this paper, efforts have been made to present a new solution by designing a fully two-dimensional six-bar mechanism with one degree of freedom so that it has the least error with regard to human foot while walking. Meanwhile, the findings of this paper present a process for the optimization of multi-bar mechanisms so that they can be employed in any other field such as making human foot prosthesis. Here, the particle swarm optimization algorithm was used. The results from the optimization were compared with experimental data regarding human feet. The results show that while optimizing many motor parameters, the proposed six-bar mechanism is able to simulate the movement of the human foot very well.
[1] Batayneh, W., Al-Araidah, O., Mattson, C.A., Ismail-Yahaya A., Design and Implementation of Human-Like Biped Walking Mechanism. The Third International Conference in Mechatronics, Kuala Lumpur, Malaysia, 2008.
[2] Cavanagh PR.,The mechanics of distance running: a historical perspective, Champaign, IL, Human Kinetics Publishers; Chapter 1, 1990, pp.1–34.
[3] Rose J., Gamble J.G., Human Walking, 3rd Edition, Lippincott Williams & Wilkins, 2006.
[4] Hobson D.A., Torfason L.E., Optimization of four-bar knee mechanisms – A computerized approach, Journal of Biomechanics, Vol. 7, No. 4, 1974, pp. 371–376.
[5] Sangwan V., Taneja A., Mukherjee S., Design of a robust self-excited biped walking mechanism, Mechanism and Machine Theory, Vol. 39, 2004, pp. 1385–1397.
[6] Collins S.H., Ruina A.L., Tedrake R., Wisse M., Efficient bipedal robots based on passive passivedynamic Walkers. Science magazine, Vol. 307, 2005, pp. 1082-1085.
[7] McGeer T., Passive dynamic walking. International Journal of Robotics Research, Vol. 9, No. 2, 1990, pp. 62-82.
[8] Neumann D.A., Kinesiology of the Musculoskeletal System: Foundations for Rehabilitation, 2nd Edition, 2010.
[9] L.D.S. Coelho, A quantum particle swarm optimizer with chaotic mutation operator，Chaos, Solitons and Fractals，Vol. 37，No. 5, 2008, pp. 1409- 1418.
[10] Poli R., Kennedy, J., Blackwell, T., Particle swarm optimization An overview, s.l.，Springer Science，2007,pp. 33–57，Swarm Intell．
