3 papers
cs.RO2024
Passive knee flexion increases forward impulse of the trailing leg during the step-to-step transition
Bernadett Kiss, Alexandra Buchmann, Daniel Renjewski +1
Human walking efficiency relies on the elastic recoil of the Achilles tendon, facilitated by a "catapult mechanism" that stores energy during stance and releases it during push-off…
cs.RO2022
Power to the springs: Passive elements are sufficient to drive push-off in human walking
Alexandra Buchmann, Bernadett Kiss, Alexander Badri-Sprowitz +1
For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning the ankle joint play an important role: Gastrocnemius (GAS) and Soleus (SOL…
cs.RO2022
Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot
Bernadett Kiss, Emre Cemal Gonen, An Mo +3
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walkin…