*Article* **A Bioinspired Humanoid Foot Mechanism**

#### **Matteo Russo 1, Betsy D. M. Chaparro-Rico 2, Luigi Pavone 2, Gabriele Pasqua 3 and Daniele Cafolla 2,\***


**Abstract:** 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.

**Keywords:** robotics; humanoids; foot mechanism; prosthetics; neurorehabilitation
