Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels

TL;DR

This paper introduces novel passive-dynamic walkers called viscoelastically-combined rimless wheels (VCRWs), analyzes their gait properties, and explores activation methods for stable walking support.

Contribution

It presents two types of VCRWs with detailed modeling, analysis of gait dynamics, and activation strategies for stable passive walking support devices.

Findings

Numerical analysis of gait properties of VCRWs.

Identification of activation methods for stable level gait.

Discussion of VCRWs as potential walking support devices.

Abstract

This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elements, we call it viscoelastically-combined rimless wheel (VCRW). Two types of VCRWs consisting of different cross-shaped frames are introduced; one is formed by combining two Greek-cross-shaped frames (VCRW1), and the other is formed by combining two-link cross-shaped frames that can rotate freely around the central axis (VCRW2). First, we describe the model assumptions and equations of motion and collision. Second, we numerically analyze the basic gait properties of passive dynamic walking. Furthermore, we consider an activation of VCRW2 for generating a stable level gait, and discuss the significance of the study as a novel walking support device.