Development of Walking Mechanism based on Parallel Link and Rocker Function

The purpose of this study is to suggest a walking mechanism using based on the parallel link and the rocker function. The parallel link of human thigh is derived from the skeletal system and the muscular arrangement constructed with the mono- and bi- articular muscles. The mono- articular muscles work as the joint torque generator, and the bi- articular muscles work as the joint torque transfer function. The rocker functions of the lower leg; heel rocker, ankle rocker, and forefoot rocker work in order to maintain the parallel link. In this mechanism, the anti-gravity properties is satisfied and the driving force is generated while maintaining the human gait. This unique walking mechanism will be useful in the design of bipedal robot or orthoses for walking support.