Conceptual Design of a Single DOF Human-Like Eight-Bar Leg Mechanism

Legs are the most important elements for accomplishing human physical work including transportation or displacement. The article presents a mechanical reproduction of the human walking apparatus. Using design rules, a final mechanism configuration is achieved such that the crank is a binary link connected to a binary ground link. The resulting linkage is a single degree-of-freedom (DOF) eight-bar mechanism. The mechanism exemplifies the shape and movement of a human leg. The mechanism is simulated and tested to verify the proposed synthesis.