Klann Linkage. Patent Drawing over drawn with the leg and the resulting movement paths. Notice: The movement paths aren´t perfect as the leg proportion where reconstruted from the bitmap image F2-enable1.gif
Source:

US-Patent
http://www.mechanicalspider.com/enable.html (Reading the entire text could be painful.)
https://commons.wikimedia.org/wiki/File:F2-enable1.gif
Authors:

Original: Joseph Klann
Markings: MichaelFrey