Analytical and computational methods are presented for synthesising four-bar linkage mechanisms for recreating specific point trajectories from cyclic two-dimensional locomotion type sports movements. Specifically, Grashof path generation four-bar linkage mechanisms are synthesised for three precision points using linear analytical methods. The resulting linkages are further refined through computational optimisation and filtering methods to increase the path following accuracy. These linkages were able to follow accurately selected body points of cyclic two-dimensional locomotion movements which is demonstrated for the ankle marker during running motion. These linkage synthesis methods can be applied to the design of athletic training and rehabilitation equipment.
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