2009(a)ArkhipovSV

The publication describes the design of a walking machine, the ball support joint of which contains a flexible element - an analogue of the ligamentum capitis femoris (LCF). The proposed machine can be used to explore other planets. The practical implementation of this idea has already begun: «Robot dog trains to walk on Moon in Oregon trials» [bbc.com]

STEPPING MACHINE

(Шагающая машина)

Patent Application RU2009137007A

Inventor

Сергей Васильевич Архипов

(Sergey Vasilyevich Arkhipov)

Original Assignee

Сергей Васильевич Архипов

(Sergey Vasilyevich Arkhipov)

Application RU2009137007/11A events

2009-10-06 Application filed by Сергей Васильевич Архипов (RU), Sergey Vasilyevich Arkhipov

2009-10-06 Priority to RU2009137007/11A

2011-04-20 Publication of RU2009137007A

Claims

A walking machine comprising a system of movably connected housings to which two walking movers are movably connected, consisting of two or more levers movably connected and a support element in the lower part, all moving connections of the walking mover are equipped with dampers and power drives, and the levers, support elements, power drives, dampers and housings can be equipped with the necessary sensors, while all movable joints are closed with reinforced covers, contain lubricant, can be supplied with elastic damping elements, and the surfaces of friction pairs can have special coatings, in addition to this, the housing contains a power unit, a power source, stabilization, orientation, control and navigation systems, and can be equipped with walking supports, wheels, as well as tracks with their own power drives, or manipulators, characterized in that the main body is movably connected to two additional side bodies, each of which is provided with a spherical recess in which a movable ball head of the upper end of the upper about the lever, made in the form of a bracket, and the ball head is connected by a flexible elastic element with the bottom of the shaped groove made in a spherical recess, and the upper lever forms an open angle with the underlying lever in the unbent position, in addition to this body, the levers and support elements can be interconnected flexible elastic elements located both inside and outside the movable joints.

Description of the invention

Description in Russian is available at the link: 2009АрхиповСВ (the blog has a translation function).

External links:

Arkhipov SV. Stepping machine. Application for invention № 2009137007 (052355) dated October 10, 2009. [in Russian] (Архипов СВ. Шагающая машина. Заявка на изобретение №2009137007 (052355) от 06.10.2009.) [patents.google]

Keywords:

ligamentum capitis femoris, ligamentum teres, ligament of head of femur, stepping machine, walking machine, ball joint, joint with flexible elements

BLOG CONTENT

MECHANICS AND ROBOTICS

Comments

Catalog. LCF of Extinct Species

Discussion of the LCF and morphological signs of its existence in extinct species. Funston, G. F. (2024). Osteology of the two-fingered oviraptorid Oksoko avarsan (Theropoda: Oviraptorosauria). Zoological Journal of the Linnean Society, zlae011. [ academic.oup.com ] Hafed, A. B., Koretsky, I. A., Nance, J. R., Koper, L., & Rahmat, S. J. (2024). New Neogene fossil phocid postcranial material from the Atlantic (USA). Historical Biology, 1-20. [ tandfonline.com ] Kuznetsov, A. N., & Sennikov, A. G. (2000). On the function of a perforated acetabulum in archosaurs and birds. PALEONTOLOGICAL JOURNAL C/C OF PALEONTOLOGICHESKII ZHURNAL, 34(4), 439-448. [ researchgate.net ] Romer, A. S. (1922). The locomotor apparatus of certain primitive and mammal-like reptiles. Bulletin of the AMNH; v. 46, article 10. [ digitallibrary.amnh.org , digitallibrary.amnh.org(PDF) ] Słowiak, J., Brusatte, S. L., & Szczygielski, T. (2024). Reassessment of the enigmati...

LCF in 2025 (November)

LCF in 2025 ( November ) (Quotes from articles and books published in October 2025 mentioning the ligamentum capitis femoris) Awad, A., Rizk, A., ElAlfy, M., Hamed, M., Abdelghany, A. M., Mosbah, E., ... & Karrouf, G. (2025). Synergistic Effects of Hydroxyapatite Nanoparticles and Platelet Rich Fibrin on Femoral Head Avascular Necrosis Repair in a Rat Model. Journal of Biomedical Materials Research Part B: Applied Biomaterials , 113 (11), e35672. [i] onlinelibrary.wiley.com Loughzail, M. R., Aguenaou, O., Fekhaoui, M. R., Mekkaoui, J., Bassir, R. A., Boufettal, M., ... & Lamrani, M. O. (2025). Posterior Fracture–Dislocation of the Femoral Head: A Case Report and Review of the Literature. Sch J Med Case Rep , 10 , 2483-2486. [ii] saspublishers.com , saspublishers.com Vertesich, K., Noebauer-Huhmann, I. M., Schreiner, M., Schneider, E., Willegger,...

2025ChenJH_AcklandD

The article by Chen JH, Al’Khafaji I, Ernstbrunner L, O’Donnell J, Ackland D. Joint contact behavior in the native, ligamentum teres deficient and surgically reconstructed hip: A biomechanics study on the anatomically normal hip (2025). The authors experimentally demonstrated the role of the ligamentum capitis femoris (LCF) in unloading the upper sector of the acetabulum and the femoral head. The text in Russian is available at the following link: 2025ChenJH_AcklandD . Joint contact behavior in the native, ligamentum teres deficient and surgically reconstructed hip: A biomechanics study on the anatomically normal hip By Chen JH, Al’Khafaji I, Ernstbrunner L, O’Donnell J, Ackland D. CONTENT [i] Abstract [ii] Introduction [iii] Materials and methods [iv] Results [v] Discussion and Conclusion [vi] References [vii] Application [i] Abstract Background The ligamentum teres is known to contribute to hip joint st...

1816MeckelJF

The author discusses the anatomy and function of the ligamentum capitis femoris (LCF), and also identifies one of the reasons for its damage. The translation was done in collaboration with ChatGPT 3.5. Meckel JF. Handbuch der menschlichen Anatomie. Zweiter Band. Besondere Anatomie. Halle, Berlin: Buchhandlung des Hallischen Waisenhauses, 1816. [fragment] Quote p p . 3 65 -366 c. Runds band §. 948. Gerade vor dem Theile der Synovialhaut, welcher auf der Lücke unter dem brückenförmigen Theile der Knorpellippe liegt, entspringt ein, ungefähr einen Zoll langes, sehr länglichviereckiges Band, das runde Band des Oberschenkels (Ligamentum ossis femoris teres s. rotundum) welches, an beiden Enden etwas ausgebreitet, sich mit seis nem äußern an die Bertiefung im Kopfe des Oberschenkels beines heftet und zu noch größerer Befestigung deffelben beiträgt. Es besteht aus longitudinalen Fasern, welche sich an das obere un...

BIBLICAL DAMAGE

Biblical damage (Artists and sculptors on the LCF damage described in the Bible: painting, sculpture, icon, fresco, engraving…) 386Brescia_Casket Bas-relief. Drawing depicting the circumstances and mechanism of the LCF injury. 6c.Vienna_Genesis Miniature. Drawing depicting the circumstances and mechanism of the LCF injury. 10c.Cross Bas-relief. Drawing depi cting the circumstances and mechanism of the LCF injury. 1000Jacob&Archangel Fresco. Drawing depicting the circumstances and mechanism of the LCF injury. 1050Aelfric Drawing depicting the circumstances and mechanism of the LCF injury. 1140St.Marie-Madeleine Capital. Drawing depicting the circumstances and mechanism of the LCF injury. 1143 Palantine_Chapel Mosaic . Drawing depicting the circumstances and mechanism of the LCF injury. 1213L’histoire_ancienne. M iniature . Drawing depicting the circumstances and mecha...

1832MeckelJF

Fragments of the book Meckel JF. Manual of general, descriptive, and pathological anatomy (1832) dedicated to ligamentum capitis femoris (LCF). The author briefly discusses abnormalities of the LCF and its distal insertion. Quote p. 257 § 308. Among the deviations from the normal state, primitive deviations of the external form are rare, and usually attend anomalies of the other tissues. Among these we arrange, for instance, the absence of the tendons of the abdominal muscles, that of the ligaments of the vertebral column, and that of the dura mater of the brain and spinal marrow, &c., in a congenital fissure of the abdomen, of the vertebral column, and of the skull, and that of the tendons and the muscles of a finger, when the finger itself is wanting. But the fibrous organs are seldom deficient, when the other tissues with which they combine to form a part are present — for instance, the tendon alone of a muscle is rarely absent, or the tunica sclerotica, when the othe...

1884SuttonJB

Fragments from the article Sutton JB. Ligaments: Their Nature and Morphology (1884). The author discovered that in the ostrich the ligamentum capitis femoris (LCF) was not continuous with the ambiens muscle, but with a muscular slip which ran parallel with the-muscle, and ended in the adductor mass. This publication develops the theme of article 1883SuttonJB . Quote pp. 228-229 I must now pass on to consider certain ligaments of the appendicular skeleton, commencing with some additional remarks on the ligamentum teres. The Journal of Anatomy and Physiology, vol. xvii January 1883, contains a short article on the ligamentum teres, in which I have endeavoured to point out that many ligaments are the tender of muscles which were originally in relation with the joint; but the parent muscle has either formed new attachments or become obsolete, whilst the tendon remains as a passive element in the articulation. In addition to the ligamentum teres the following structures ...

2025VertesichK_ChiariC

Content [i] Annotation [ii] Original text (in German) [iii] References [iv] Source & links [v] Notes [vi] Authors & Affiliations [vii] Keywords [i] Annotation Fragments from the article: Vertesich K, Noebauer-Huhmann IM, Schreiner M, Schneider E, Willegger M, Böhler C, Windhager R, Chiari C. The position of the femoral fovea can indicate hip instability and highly correlates with lesions of the ligamentum teres: an observational study (2025). The authors discuss the diagnosis of pathology of the ligamentum capitis femoris (LCF) based on radiological & MRI data. The text in Russian is available at the following link: 2025VertesichK_ChiariC . [ii] Original text (in German) The position of the femoral fovea can indicate hip instability and highly correlates with lesions of the ligamentum teres: an observational study Klemens Vertesich, Iris-Melanie Noebauer-Huhmann, Marku...

2024MiglioriniF_MaffulliN

Abstract and table 4 ( overview of LCF tear classification ) of the article Migliorini F et al. The ligamentum teres and its role in hip arthroscopy for femoroacetabular impingement: a systematic review. (2024). Translation into Russian is available at the link: 2024MiglioriniF_MaffulliN . Systematic Review / Open access / Published: 20 December 2024 The ligamentum teres and its role in hip arthroscopy for femoroacetabular impingement: a systematic review Filippo Migliorini, Federico Cocconi, Tommaso Bardazzi, Virginia Masoni, Virginia Gardino, Gennaro Pipino, Nicola Maffulli Journal of Orthopaedics and Traumatology volume 25, Article number: 68 (2024) Abstract Background The ligamentum teres (LT) has received attention in patients undergoing hip arthroscopy (HA) for femoroacetabular impingement (FAI). Indeed, a better understanding of the function of the LT and its implications for cli...

1869MivartG

The author discusses his observations of LCF absence in chimpanzees and orangutans. IX. Contributions towards a more complete knowledge of the Skeleton of the Primates . By Sr. George Mivart, F.L.S., Lecturer on Comparative Anatomy at St. Mary's Hospital. Part I. The Appendicular Skeleton of Simia. Read December 13th, 1866. [Pirates XXXV. to XLIII.] Quote p. 200 It is commonly asserted that the ligamentum teres is absent in. the Orang, as also the pit for its reception on the head of the femur (1). I find no trace of the latter in either femur of any specimen, with one exception (2); but in that. exceptional specimen each femur (Pl. XL. fig. 7 i) exhibits a small but distinct depression on its head in the place occupied in other forms by the pit for the round ligament. This absence has not, as far as I am aware, been noticed in Man or the Chimpanzee; but. in the Gorilla I have sometimes been unable to detect any trace of such a fossa on the head of the femu...

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