Mechanical & Materials Engineering, Department of


Date of this Version



United States Patent No.:US 10,252,100 B1


A gait replication apparatus can include a scalable mechanical mechanism configured to replicate different gaits . The scalable mechanical mechanism can include , for example , a four - bar linkage , a pantograph , a cam / Scotch - yoke mechanism , and so forth . In some embodiments , the mechanical mechanism includes a beam rotating about an axis passing proximate to its center , with a foot pedal slidably coupled with the beam , and a timing chain / belt or cable pulley - pair coupled with the foot pedal and looped about the beam . A method can include decomposing a foot path defined by Cartesian coordinates into polar coordinates , and providing a mechanical support for a foot , where a first mechanism controls an angular position of the mechanical support with respect to a reference frame , and a second mechanism controls a radial distance of the mechanical support from the reference frame .