Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels
For researchers in passive-dynamic walking and assistive devices, this work introduces a new design concept but remains incremental, as it builds on existing rimless wheel models without demonstrating clear performance advantages.
This paper proposes novel passive-dynamic walkers called viscoelastically-combined rimless wheels (VCRWs), which combine two cross-shaped frames with viscoelastic elements. Numerical analysis shows that VCRW2 can generate stable level gaits when activated, with potential as a walking support device.
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.