Passive Walking Leg Crank Linkage for Stable Gait Coordination
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Solution Overview
Problem
Conventional passive walking apparatuses lack a mechanism for coordinated operation of their legs, making it difficult to maintain stable walking.
Innovation Solution
A passive walking apparatus with a hip portion, two legs, and a crank mechanism where the first-leg-side crank portion and second-leg-side crank portion are coupled via a crankshaft, allowing the legs to pivot and alternate between support and idling roles, ensuring continuous stable walking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a passive walking apparatus has two legs without a coordination mechanism, then the structure is simple, but the walking stability is poor
Solution Approach 1:
The patent introduces a crank mechanism as an intermediary component between the two legs. This crank mechanism includes a crankshaft with first and second crank portions that convert the motion of one leg into coordinated motion of the other leg, thereby achieving stable walking without requiring complex control systems
Solution Approach 2:
The patent employs dynamic motion conversion through the crank mechanism. The crankshaft transforms the reciprocating motion of the support leg into synchronized reciprocating motion of the idling leg, creating a dynamic coordination system that maintains walking stability
2Reliability
If a passive walking apparatus includes a crank mechanism for coordinated leg operation, then the walking stability is improved, but the device complexity increases
Solution Approach 1:
The crank mechanism is segmented into distinct functional components: a crankshaft with separately defined first and second crank portions, each connected to respective legs. This segmentation allows for simplified manufacturing and assembly while maintaining the coordination function
Solution Approach 2:
The patent merges the coordination function into a single integrated crank mechanism that combines the crankshaft, crank portions, and connection structures into one unified component system, reducing the need for multiple separate control mechanisms
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus achieves stable passive walking by converting the movement of one leg into the forward movement of the other, maintaining stability throughout the walking process.
Implementation Method 1
a crank mechanism including a first-leg-side crank portion provided on a side of the first side portion, a second-leg-side crank portion provided on a side of the second side portion as being opposite in phase to the first-leg-side crank portion, a crankshaft coupling the first-leg-side crank portion and the second-leg-side crank portion to each other
Implementation Method 2
a crankshaft coupling the first-leg-side crank portion and the second-leg-side crank portion to each other
Data Source
AI summary
A passive walking apparatus (100) according to one embodiment includes a hip portion (1), a first leg (21), a second leg (22), and a crank mechanism (3) including a first-leg-side crank portion (31), a second-leg-side crank portion (34), a crankshaft (33), a first-leg-side connection portion (32), and a second-leg-side connection portion (35). When the first leg (21) moves rearward from the front relatively to the hip portion (1) as being in contact with a walking surface (GR), the first-leg-side connection portion (32) has the first-leg-side crank portion (31) pivot, the first-leg-side crank portion (31) has the second-leg-side crank portion (34) pivot around the crankshaft (33), and the second-leg-side crank portion (34) moves the second leg (22) forward from the rear relatively to the hip portion (1) with the second-leg-side connection portion (35) being interposed.