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As shown in the solidworks model, there were two the major additions to the device. One was the gear train that attaches to the crank and is powered by a motor and the model of a person which is used to show how a human will move inside of the device. The gear train is a 9 to 1 reduction that was designed using solidworks in a process that was outlined in a YouTube video (link will be posted in references in "shared Links" section). The person was designed by in a similar fashion to the Theo Jansen mechanism in that the thigh and shank link lengths were determined by the kinematic analysis performed in matlab and the rest of the body parameters were chosen so the body would look somewhat proportional. The leg is attached to the Theo Jansen mechanism which causes the leg to move in a manner consistent with the foot trajectory traced by the mechanism. The link that connects the knee toe the arm is used to move the arm in tandem with the legs.
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