Conceptual design of a single DOF human-like eight-bar leg mechanism

O. Al-Araidah, W. Batayneh, T. Darabseh, S. M. BaniHani

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


Legs are the most important elements for accomplishing human physical work including transportation or displacement. The article presents a mechanical reproduction of the human walking apparatus. Using design rules, a final mechanism configuration is achieved such that the crank is a binary link connected to a binary ground link. The resulting linkage is a single degree-of-freedom (DOF) eight-bar mechanism. The mechanism exemplifies the shape and movement of a human leg. The mechanism is simulated and tested to verify the proposed synthesis.

Original languageEnglish
Pages (from-to)285-289
Number of pages5
JournalJordan Journal of Mechanical and Industrial Engineering
Issue number4
Publication statusPublished - 2011
Externally publishedYes


  • Biped walking
  • DOF
  • Kinematic synthesis
  • Leg mechanism

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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