A type of escapement used in most clocks until the invention of the more
accurate ancre escapement in the 1670s. It was first drawn up by
Giovanni da Dondi, Paduan professor, in 1364. It comprises a toothed
wheel and a verge (shaft), with two pallets released in turn by a foliot
(large horizontal bar) or balance (wheel)._
Judith Miller. The
Illustrated Dictionary of Antiques & Collectibles. Bullfinch Press
Book_Marshall Editions Development, 2001
Apparently this was one of the few key European inventions not totally borrowed or inspired by China. Su Song's [子容[1] 1020–1101 AD] astronomical clock tower already used an escapement, but according to Carlo Cipolla the two inventions "had nothing in common" [quoted in Cathedral, Forge, and Waterwheel by Frances and Joseph Gies]
https://www.wikiwand.com/en/Su_Song
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