尽管需要花力气去弯曲关节或拉伸肌肉，但人体可以利用弹簧般的肌腱和分布优雅的肌肉来回收相当部分的能量。
Although effort is required to bend a joint or flex a muscle, the body is able to recycle much of the energy expended through spring-like tendons and elegantly arranged muscles.
PowerFoot One采用电动机、弹簧、传感器和一个精密控制系统模拟脚和踝关节每一动作环节的能量传送机理。
The PowerFoot One USES motors, springs, sensors and an elaborate control system to emulate the energy-transfer mechanisms of the foot and ankle at each stage of a stride.
并用凯恩法建立了系统动力学微分方程，推导了跳跃机构各关节输入扭矩和对地面作用力的计算公式，同时提出了确定等效弹簧参数的方法。
Dynamic differential equation is established with Kane method. The formulas of input torque at each joint and force acting on the ground and the approach to equivalent spring stiffness were presents.
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