Although the evolution of mammalian feet has been extensively studied, the development of robotic feet has been slow. However, as legged robots developed, the development of adaptive and highly functional feet became important. This study introduces the Human-inspired Sensorized and Adaptive Foot that Enhances Stability through Tensegrity (Hi-SAFEST), which has high adaptability and functionality. Hi-SAFEST is consisted of artificial tendons inspired by human tendons to sense proprioception of the foot and simultaneously form a tensegrity structure mimicking the human foot structure for adaptability. Hi-SAFEST showed low moment applied to the ankle and low potential energy on various ground inclination angles and obstacles in both the simulations and experiments, which are indicating high adaptability to the surrounding environments. Functionalities were also assessed by experiments; Hi-SAFEST successfully estimated the ground inclination angle and ground reaction force using bio-inspired artificial proprioceptive tendons. In addition, Hi-SAFEST exhibited high slip resistance than conventional passive feet on both flat and rough surfaces.

中文翻译：

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受人类启发的传感和自适应足部设计，通过张拉整体增强稳定性（Hi-SAFEST）

尽管哺乳动物足部的进化已被广泛研究，但机器人足部的发展却进展缓慢。然而，随着腿式机器人的发展，适应性和高功能性脚的开发变得重要。这项研究介绍了受人类启发的传感自适应脚，通过张拉整体增强稳定性（Hi-SAFEST），具有很高的适应性和功能性。 Hi-SAFEST由受人类肌腱启发的人工肌腱组成，可以感知足部的本体感觉，同时形成模仿人类足部结构的张拉整体结构以实现适应性。 Hi-SAFEST在模拟和实验中均表现出对脚踝施加的力矩较小，在各种地面倾斜角度和障碍物上的势能也较低，这表明其对周围环境的适应性较高。还通过实验评估了功能； Hi-SAFEST 利用仿生人工本体感觉肌腱成功估计了地面倾斜角和地面反作用力。此外，Hi-SAFEST 在平坦和粗糙的表面上都表现出比传统被动脚更高的防滑性。