Next Article in Journal
Bidirectional Haptic Communication: Application to the Teaching and Improvement of Handwriting Capabilities
Previous Article in Journal
Dynamic Contact between a Wire Rope and a Pulley Using Absolute Nodal Coordinate Formulation
Previous Article in Special Issue
A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling & Simulation
Article Menu

Export Article

Open AccessArticle
Machines 2016, 4(1), 5;

Joint Mechanism That Mimics Elastic Characteristics in Human Running

Graduate School of Science and Engineering, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Waseda Institute for Advanced Study, Waseda University, No. 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan
Humanoid Robotics Institute (HRI), Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
Faculty of Kinesiology, University of Calgary, 2500 University Drive NW, Calgary, AB T2N 1N4, Canada
Faculty of Sport Sciences, Waseda University, 2-579-15 Mikajima, Tokorozawa-shi, Tokyo 359-1192, Japan
Faculty of Engineering, Kanagawa University, 3-27-1 Rokkakubashi, Kanagawa-ku, Yokohama 221-8686, Japan
Department of Modern Mechanical Engineering, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japan
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Academic Editors: Marco Ceccarelli and Hui Li
Received: 31 July 2015 / Revised: 11 January 2016 / Accepted: 19 January 2016 / Published: 25 January 2016
(This article belongs to the Special Issue Mechanical Designs for Humanoids Robots: Problems and Solutions)
Full-Text   |   PDF [3646 KB, uploaded 26 January 2016]   |  


Analysis of human running has revealed that the motion of the human leg can be modeled by a compression spring because the joints of the leg behave like a torsion spring in the stance phase. In this paper, we describe the development of a joint mechanism that mimics the elastic characteristics of the joints of the stance leg. The knee was equipped with a mechanism comprising two laminated leaf springs made of carbon fiber-reinforced plastic for adjusting the joint stiffness and a worm gear in order to achieve active movement. Using this mechanism, we were able to achieve joint stiffness mimicking that of a human knee joint that can be adjusted by varying the effective length of one of the laminated leaf springs. The equation proposed for calculating the joint stiffness considers the difference between the position of the fixed point of the leaf spring and the position of the rotational center of the joint. We evaluated the performance of the laminated leaf spring and the effectiveness of the proposed equation for joint stiffness. We were able to make a bipedal robot run with one leg using pelvic oscillation for storing energy produced by the resonance related to leg elasticity. View Full-Text
Keywords: humanoid; running; joint stiffness; leaf spring humanoid; running; joint stiffness; leaf spring

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Otani, T.; Hashimoto, K.; Isomichi, T.; Sakaguchi, M.; Kawakami, Y.; Lim, H.-O.; Takanishi, A. Joint Mechanism That Mimics Elastic Characteristics in Human Running. Machines 2016, 4, 5.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Machines EISSN 2075-1702 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top