具有仿生距下关节和跖趾关节的完全被动步行机

Completely passive walking machine with bionic subtalar joint and matatarsal phalangeal joint

以人体足部关节为仿生模本,研制了具有仿生距下关节(矢状面内关节轴倾角为45°)和跖趾关节(添加脚趾)的新型完全被动步行机,并实现了稳态行走。通过单因素试验确定了步行机的最佳高度;采用多因素混合正交试验设计,分析了步行机高度、有无足趾、腿间距3个因素对步行机行走性能的影响。结果表明:研究范围内,对步行机行走性能(稳定行走距离和行走速度)影响最大的因素为腿间距;足部有、无脚趾对行走速度具有次要影响,而步行机高度则对行走最大距离具有次要影响。

Based on anatomical configuration of human foot joints, a completely passive walking machine was developed with bionic subtalar joint （the joint axis of the sagittal plane is 45 degrees） and matatarsal phalangeal joint （add toe）, realizing stable walking on slope. The optimum height of the walking machine was determined by single factor measurement. The influences of three factors, the height, the distance between two legs and toes or without toes of the walking machine, on the stable walking performance of the walking machine were analyzed by using multi-factor mixed-level orthogonal test design. Within the scope of the study, the distance between two legs played the most significant role on the walking performance （the stable walking distance and walking speed）. Compared with the leg distance, with or without toes （metatarsal phalangeal joint） in the foot has a secondary influence on walking speed, while the height of the walking machine has secondary influence on the maximum walking distance.