Biomimetic Design of a Single DOF Stephenson III Leg Mechanism

Abstract

The article presents a single degree-of-freedom (DOF) Stephenson III mechanical reproduction of the shape and movement of the human leg. Type and motion synthesis of the mechanism are achieved through qualitative and interactive design heuristics. Qualitative considerations include the slim straight shape of the human leg to help keeping the center of mass of the body far from ground. Moreover, the driving force and controllers of the walking apparatus are located within the upper part of the leg. We utilize Working Model software package to test and tune the segments of the mechanism to arrive at the desired walking gait. The resulting mechanism is a reproduction of the human walking apparatus with minimum control.