Design of Human-Inspired Feet to Enhance the Performance of the Humanoid Robot Mithra.

Spencer Brewster, Paul J Rullkoetter, Siavash Rezazadeh

Abstract read

In one paragraph

Article in Biomimetics (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

3 authors.

Spencer BrewsterDepartment of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USA.

Paul J RullkoetterDepartment of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USA.

Siavash RezazadehDepartment of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USA.ORCID 0000-0002-0312-3167

Funding

No grant is acknowledged in the PubMed record.

6 · The paper itself

Abstract

This paper presents the foot design for humanoid robot Mithra, with the goal of biomimetically improving impact behavior, natural power cycling throughout the gait cycle, and balance. For this purpose, an optimization framework was built which evaluates the human-inspired objectives using a dynamic finite element analysis validated by benchtop experiments. Using this framework and through several concept design iterations, a low-cost, compliant foot was optimized, designed, and fabricated. The analyses showed that the optimized foot significantly outperformed the baseline rigid foot in approaching the characteristics of human feet. The proposed framework is not limited to humanoids and can also be applied to the foot design for lower-limb prostheses and exoskeletons.

Indexed as

anthropomorphic locomotiondesign optimizationfoot designhumanoid robots

Identifiers

PMID41149205

DOI10.3390/biomimetics10100675

PMCPMC12561541

What OpenQuestion holds

Textmetadata

LicenceCC BY

Read underepoch 390

Registered trials

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.