نوع مقاله : مقاله پژوهشی
نویسندگان
1 آزمایشگاه بیومکانیک و سیستمهای حرکتی، دانشکده مهندسی مکانیک، دانشگاه یزد
2 هیأت علمی/ دانشکده مهندسی مکانیک، دانشگاه یزد
3 هیات علمی / دانشکده مهندسی مکانیک، دانشگاه یزد
چکیده
کلیدواژه‌ها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
The geometry of a foot is so important in the specification of the gait cycle. This research deals with designing and analyzing the foot shape in the gait cycle in order to achieve the least energy consumption during walking on a flat ground. The famous point mass model has been improved to a model with a moving contact point on a convex sole without adding an extra degree of freedom. As the convex sole is added to the model, motion reconstruction is needed because of the effects of the model's geometry on optimized gait cycle. Therefore, in this research, simultaneous optimization has been done to find the optimized sole shape and hip trajectory. To avoid high computational cost, optimization variables have been coded into vectors with limited dimensions and obtained by using particle swarm optimization (PSO) and steepest descent algorithm together. Kinematic constraints and requirements of a continues, repetitive and symmetrical locomotion have been driven and satisfied during optimization. The results have been shown that optimization of the sole shape and hip trajectory has great effects on the cost function.
کلیدواژه‌ها [English]
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