Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.
Research and optimization design of mechanism for Theo Jansen bionic leg
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Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.