A bioinspired humanoid foot mechanism

Matteo Russo, Betsy D.M. Chaparro-Rico, Luigi Pavone, Gabriele Pasqua, Daniele Cafolla

Research output: Contribution to journalArticlepeer-review


This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of the foot-ground interaction. The proposed foot mechanism consists of three main bodies, to represent the heel, plant, and toes, connected by compliant joints for improved balancing and impact absorption. The functional requirements were extracted from medical literature, and were acquired through a motion capture system, and the proposed design was validated with a numerical simulation.

Original languageEnglish
Article number1686
Pages (from-to)1-15
Number of pages15
JournalApplied Sciences (Switzerland)
Issue number4
Publication statusPublished - Feb 2 2021


  • Foot mechanism
  • Humanoids
  • Neurorehabilitation
  • Prosthetics
  • Robotics

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes


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