An infinitely variable transmission (IVT) is a system that allows for a continuous (nondiscrete) variation (including zero) in transmission ratio between two rotating elements. In this paper, a novel ratcheting-type IVT mechanism is presented and its geometrical design and kinematic analysis are studied in details. The proposed system contains two identical units. Each unit includes a cam with a follower, oscillatory slotted links pivoted at a shaft that can be moved vertically by a hydraulic ram (alterable transmission ratio), and a grooved wheel with an actuating rod. The input rotational motion is converted through each unit to an oscillatory angular motion of controlled amplitude. This resulting motion is rectified using a ratchet to get a unidirectional output rotational motion. Therefore, the system output motion will have a different velocity and acceleration than those of the system input. The kinematic analysis revealed that the transmission ratio can be varied continuously in a range from zero to infinity. The analysis also showed that, for particular transmission ratios, the system gives uniform output (angular velocity and acceleration) for a corresponding uniform input.

The push-off phase is a critical part of initiating movement during walking, and it requires a significant amount of energy. Recent research has shown that the passive use of springs in parallel with the leg can harvest the push-off energy and reduce the total metabolic energy of walking for healthy subjects. In this study, we present the design of a prosthetic leg with a passive-based mechanism to reduce walking energy consumption for above-knee amputees. The mechanism stores energy during the stance phase of the gait cycle and releases it to support the prosthetic leg during locomotion. The known polycentric knee joint 3R36 and the ankle-foot joint ESAR were chosen and adopted for this study. We also utilized a ratchet clutch that connects with a spring and rope from the pylon to the foot which regulates movement and saves energy. Our simulations demonstrate that the spring stores elastic energy from approximately 22% of the gait cycle and reaches its maximum energy storage at approximately 50% of the walking cycle. The energy is then released at approximately 58% of the stride cycle during the push-off phase. The motion of the proposed prosthetic leg for individuals with transfemoral amputations mimics the normal walking pattern of healthy individuals well.