Theo Jansen built wind-powered walking mechanisms or strandbeasts using a basic 12-linked leg mechanism which has a single degree of freedom (DoF). In this work, the Jansen leg mechanism is used as a start point in an optimization routine to arrive at a single DoF mechanism to trace the ankle trajectory. Optimization and forward dynamic analysis methodology of the mechanism are presented. This preliminary work can be used in the design of rehabilitation devices and assistive exoskeletons. © 2021, Springer Nature Singapore Pte Ltd.

Mohan Varma  D. S.

Centre for Biomaterials, Cellular and Molecular Theranostics

Vellore Campus

Vellore Institute of Technology (VIT) is a private university located in&nbsp;Tamil Nadu, India. Founded in 1984, as Vellore Engineering College, the institution offers 20 undergraduate, 34 postgraduate, four integrated and four research programs. It has campuses in Vellore, Amravati, Bhopal and Chennai.

VIT is one of the top ranked private universities in India according to NIRF, THE and QS Rankings.&nbsp;Govt. of India has recognized&nbsp;VIT, Vellore as an&nbsp;Institution of Eminence. This has allowed VIT to take independent quality initiatives and move up in world ranking.

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Journal	Data powered by TypesetLecture Notes in Mechanical Engineering
Publisher	Data powered by TypesetSpringer
ISSN	21954356