On Adjustable Stiffness Artificial Tendonsin Bipedal Walking Energetics

Abstract

The energy loss during the foot-touch-down is one of the major causes of energy reduction in bipedal walking which is reduced by properly adjusting the stiffness of OLASAT. This section studies the key parameters involved in the change in the kinetic energy of the biped, FTD ∆ E = FTD E− − FTD E+ , before and after the foot-touch-down, shedding light on how the stiffness adjustment of OLASAT can reduce the energy loss. FTD ∆ E for the model explained in Fig. 13 is given below