Synthesis of a 10-Bar Linkage to Guide the Gait Cycle of the Human Leg

摘要

This paper uses path synthesis techniques to design four-bar linkage modules to constrain the movement of a 3R chain. The result is a 10-bar linkage. The goal is to develop a design procedure for a robotic system that guides the human leg during the walking gait cycle. A 3R chain is designed to match the dimensions of a human leg and the two four-bar linkages are synthesized using 9 point path synthesis to constrain the trajectory of the ankle and the toe. Precision points are derived from a basis spline equation. A numerical example is given using data collected from a motion capture system.