Analysis of Force Characteristics in Foot Operations Using Isometric Device
The lower limbs, which have multiple degrees of freedom, can be used to manipulate a robot or an object in a virtual environment. Such manipulation can be achieved by measuring the direction of force exerted by the lower limbs using an isometric device equipped with a force sensor. This study experi...
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IEEE
2025-01-01
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| Online Access: | https://ieeexplore.ieee.org/document/10970039/ |
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| author | Yang Li Rintaro Iio Shoun Nishioka Tatsuro Terakawa Masaharu Komori |
| author_facet | Yang Li Rintaro Iio Shoun Nishioka Tatsuro Terakawa Masaharu Komori |
| author_sort | Yang Li |
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| description | The lower limbs, which have multiple degrees of freedom, can be used to manipulate a robot or an object in a virtual environment. Such manipulation can be achieved by measuring the direction of force exerted by the lower limbs using an isometric device equipped with a force sensor. This study experimentally investigates the differences between the intended and actual directions of force exerted by the lower limbs when operating an isometric device. The results of experiments conducted using 48 force directions indicate that there are five prominent characteristics in the differences between the intended and actual force directions. For example, when the intended force is the backward direction, an upward force component is also generated. In addition, we conducted a musculoskeletal analysis to analyze the causes of the differences between the intended and actual force directions and calculated the metabolic energy consumption (<inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula>). The results confirm that some force directions result in lower <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula> and show that the actual force directions measured in the experiment tend to be close to the force directions that resulted in lower <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula>. This suggests that reducing <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula> is one of the causes of the differences between the intended and actual force directions. |
| format | Article |
| id | doaj-art-34458799c19d4e678cc68fe48e6d72f4 |
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| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
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| spelling | doaj-art-34458799c19d4e678cc68fe48e6d72f42025-08-20T02:20:23ZengIEEEIEEE Access2169-35362025-01-0113711977121310.1109/ACCESS.2025.356237710970039Analysis of Force Characteristics in Foot Operations Using Isometric DeviceYang Li0https://orcid.org/0000-0002-9859-6230Rintaro Iio1Shoun Nishioka2Tatsuro Terakawa3https://orcid.org/0000-0002-9418-3156Masaharu Komori4https://orcid.org/0000-0001-8696-8167Department of Mechanical Engineering and Science, Kyoto University, Kyoto, JapanDepartment of Mechanical Engineering and Science, Kyoto University, Kyoto, JapanDepartment of Mechanical Engineering and Science, Kyoto University, Kyoto, JapanDepartment of Mechanical Engineering and Science, Kyoto University, Kyoto, JapanDepartment of Mechanical Engineering and Science, Kyoto University, Kyoto, JapanThe lower limbs, which have multiple degrees of freedom, can be used to manipulate a robot or an object in a virtual environment. Such manipulation can be achieved by measuring the direction of force exerted by the lower limbs using an isometric device equipped with a force sensor. This study experimentally investigates the differences between the intended and actual directions of force exerted by the lower limbs when operating an isometric device. The results of experiments conducted using 48 force directions indicate that there are five prominent characteristics in the differences between the intended and actual force directions. For example, when the intended force is the backward direction, an upward force component is also generated. In addition, we conducted a musculoskeletal analysis to analyze the causes of the differences between the intended and actual force directions and calculated the metabolic energy consumption (<inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula>). The results confirm that some force directions result in lower <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula> and show that the actual force directions measured in the experiment tend to be close to the force directions that resulted in lower <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula>. This suggests that reducing <inline-formula> <tex-math notation="LaTeX">$E_{m}$ </tex-math></inline-formula> is one of the causes of the differences between the intended and actual force directions.https://ieeexplore.ieee.org/document/10970039/Foot operationlower limbisometric deviceforce characteristics |
| spellingShingle | Yang Li Rintaro Iio Shoun Nishioka Tatsuro Terakawa Masaharu Komori Analysis of Force Characteristics in Foot Operations Using Isometric Device IEEE Access Foot operation lower limb isometric device force characteristics |
| title | Analysis of Force Characteristics in Foot Operations Using Isometric Device |
| title_full | Analysis of Force Characteristics in Foot Operations Using Isometric Device |
| title_fullStr | Analysis of Force Characteristics in Foot Operations Using Isometric Device |
| title_full_unstemmed | Analysis of Force Characteristics in Foot Operations Using Isometric Device |
| title_short | Analysis of Force Characteristics in Foot Operations Using Isometric Device |
| title_sort | analysis of force characteristics in foot operations using isometric device |
| topic | Foot operation lower limb isometric device force characteristics |
| url | https://ieeexplore.ieee.org/document/10970039/ |
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