Human-Like Toe Joint Mechanism

Abstract

The human foot has evolved over many years into a specialized mechanism for biped walking. It has a complicated mechanism with a number of bones and ligaments. In particular, the arch structure and the toe joints have important roles in walking. The arch structure acts as a shock absorber that enhances the adaptability of the foot with respect to the ground, and the toe joints move dynamically during walking. Although most humanoid robots have a simple foot mechanism, a humanlike foot mechanism is key to the foot adaptability. This chapter reviews previous research on the humanlike foot mechanism, with special focus on the toe joint.