TY - GEN
T1 - EFFECTS OF SOFT CONTACT ON THE BASE OF SUPPORT OF LEGGED SYSTEMS
AU - Mummolo, Carlotta
AU - Duvert, Océane
AU - Pardo, Adriana Torres
AU - Cianca, David Rodriguez
AU - Torricelli, Diego
AU - Carbone, Giuseppe
N1 - Publisher Copyright:
© 2023 American Society of Mechanical Engineers (ASME). All rights reserved.
PY - 2023
Y1 - 2023
N2 - The main balance mechanism in legged systems is the control of the Center of Pressure (COP) over the Base of Support (BOS). The BOS dimensions are therefore strictly related to the control authority of the COP and are typically associated to foot dimensions. This geometrical BOS dimension is valid for the case of ideal rigid flat foot but does not represent the truly available range for COP control, hence the effective BOS, when a compliant foot-ground contact is modeled. This work presents experimental observations on the maximum COP range (i.e., effective BOS) for a subject perturbing its standing balance on rigid and soft grounds. A legged system with a viscoelastic foot contact is modeled to illustrate how a given foot model impacts the effective BOS and can lead to different prediction on the system's stability, quantified by existing margin of balance. This work motivates the need for novel methodologies for balance and falling prediction, currently focused on ideal rigid feet, in which the effects of a viscoelastic contact on the control of the COP are considered.
AB - The main balance mechanism in legged systems is the control of the Center of Pressure (COP) over the Base of Support (BOS). The BOS dimensions are therefore strictly related to the control authority of the COP and are typically associated to foot dimensions. This geometrical BOS dimension is valid for the case of ideal rigid flat foot but does not represent the truly available range for COP control, hence the effective BOS, when a compliant foot-ground contact is modeled. This work presents experimental observations on the maximum COP range (i.e., effective BOS) for a subject perturbing its standing balance on rigid and soft grounds. A legged system with a viscoelastic foot contact is modeled to illustrate how a given foot model impacts the effective BOS and can lead to different prediction on the system's stability, quantified by existing margin of balance. This work motivates the need for novel methodologies for balance and falling prediction, currently focused on ideal rigid feet, in which the effects of a viscoelastic contact on the control of the COP are considered.
KW - Balance
KW - Base of Support
KW - Center of Pressure
KW - Foot-ground Contact
KW - Ground reaction force
KW - Postural Stability
KW - Viscoelasticity
UR - http://www.scopus.com/inward/record.url?scp=85178564217&partnerID=8YFLogxK
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U2 - 10.1115/DETC2023-117584
DO - 10.1115/DETC2023-117584
M3 - Conference contribution
AN - SCOPUS:85178564217
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 47th Mechanisms and Robotics Conference (MR)
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023
Y2 - 20 August 2023 through 23 August 2023
ER -