EFFECTS OF SOFT CONTACT ON THE BASE OF SUPPORT OF LEGGED SYSTEMS

Carlotta Mummolo, Océane Duvert, Adriana Torres Pardo, David Rodriguez Cianca, Diego Torricelli, Giuseppe Carbone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication47th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791887363
DOIs
StatePublished - 2023
Externally publishedYes
EventASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023 - Boston, United States
Duration: Aug 20 2023Aug 23 2023

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume8

Conference

ConferenceASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2023
Country/TerritoryUnited States
CityBoston
Period8/20/238/23/23

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Keywords

  • Balance
  • Base of Support
  • Center of Pressure
  • Foot-ground Contact
  • Ground reaction force
  • Postural Stability
  • Viscoelasticity

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