Reference for citation: Musalimov V. M., Erofeev M. A. Localization of the phases of impact-friction interaction of the foot with the supporting surface. Journal of Instrument Engineering. 2025. Vol. 68, N 8. P. 689–695 (in Russian). DOI: 10.17586/0021-3454-2025-68-8-689-695.

Abstract. The impact-friction interaction of the left and right feet with the supporting surface is investigated. For a visual representation, the step cycle phases in bipedal walking are correlated with quad sectors, in which this interaction is presented. The work is based on experimental data on flexion-extension-rotation of the ankle joint and foot reactions when walking on a dynamometric platform. A technique for analyzing paired interaction of both feet is developed, using Hermite functions to model impact impulses of tangential reaction forces of the heel and toe of the foot. At the kinematic analysis stage, angular velocities of rotation of the ankle joint of one leg with full support and of the other in free transfer are calculated. Transmission coefficients are estimated. It is shown that at the stage of dynamic analysis in the phases of impact impulses of the foot on the supporting plane their pair is formed. The results of the study can be used both in developing protocols for ankle rehabilitation and in training athletes when assessing the quality of the foot action during a push.

Keywords: ankle joint, bipedal walking, moment of impulse, action, quad sectors, transfer coefficient

Acknowledgement: The work was carried out with the support of the Ministry of Science and Higher Education of the Russian Federation (project No. 124041500009-8).

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