A quasi-passive model of human leg function in level-ground walking

Abstract

In this paper, we seek to understand how leg muscles and tendons work mechanically during walking in order to motivate the design of efficient robotic legs. We hypothesize that a robotic leg comprising only knee and ankle passive and quasi-passive elements, including springs, clutches and variable-damping components, can capture the dominant mechanical… (More)
DOI: 10.1109/IROS.2006.282454

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