Development of a Novel Fully Passive Treadmill Training Paradigm for Lower Limb Therapeutic Intervention by M. Saiful Huq, M. O. Tokhi

“…The approach does not require any powered means at the lower limbs and is implemented using a combination of coordinated joint locking/unlocking and flexible torque transfer mechanisms. …”
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Design and Validation of a Biomimetic Leg-Claw Mechanism Capable of Perching and Grasping for Multirotor Drones by Yan Zhao, Ruzhi Xiang, Hui Li, Chang Wang, Jianhua Zhang, Xuan Liu, Yufei Hao

“…A ratchet and pawl mechanism at the knee joint locks the leg in the bent position, thereby enhancing the gripping force of the claw. …”
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