Application of Construction Solutions of Biped Walking Robots in Designing a Prosthetic Foot

  • Adam GramalaEmail author
  • Paweł Drapikowski
  • Adam M. Pogorzała
  • Tomasz Walczak
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 925)


The recreation of the human gait pattern has been a challenge for biped robot constructors for years. A foot and ankle are important structural components of a biped robot, while in the case of amputation their proper design is a decisive factor in the recreation of the correct gait stereotype in a person with a prosthesis. The paper presents design solutions of selected biped robots’ foot models. The chosen foot models’ mechanic operation is similar to the biomechanics of the human foot. The work is the review of prosthetic feet dynamics as well. The design of a prosthetic foot begins with the analysis of the biomechanics of a healthy human gait. The gait tests of a healthy person lead to determining correct gait determinants. Determining the angles of flexion of the ankle during walking also shows imperfections of current prostheses and the possibility of eliminating errors in subsequent designs. In addition, research allows to determine the correct trajectory of movement of key points of the body and the value of their accelerations while walking. Gait analysis was performed using the BTS Smart system. When designing a prosthetic foot, it is important to ensure the stability of the gait by positioning a prosthetic foot’s centre of gravity and elasticity as well as taking into account an appropriate ankle drive, including dorsiflexion of the foot, which is often overlooked in design concepts and whose lack can influence the patient’s greater susceptibility to falls. A common feature for prosthetic and robotic feet is to ensure optimal static and dynamic balance. The main innovation that is possible to implement when designing prosthetic feet is the use of construction solutions of drives used in walking robots.


Biped robots Prosthetic foot Design Gait 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Adam Gramala
    • 1
    Email author
  • Paweł Drapikowski
    • 1
  • Adam M. Pogorzała
    • 2
  • Tomasz Walczak
    • 3
  1. 1.Institute of Control, Robotics and Information EngineeringPoznan University of TechnologyPoznanPoland
  2. 2.Hipolit Cegielski State College of Higher Education in GnieznoGnieznoPoland
  3. 3.Institute of Applied MechanicsPoznan University of TechnologyPoznanPoland

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