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Table 2 Configuration synthesis of the passive limb

From: Dynamic Analysis and Performance Verification of a Novel Hip Prosthetic Mechanism

Motion characteristicsJointsConfigurations of passive limb
2R1(RR),U
3R1,2S, (RR)R, UR, (RR)U, SR, UU, (RR)S, SU
3URR, ((RR)R)U, URU, UUR, US, SRR
4,5,6(URR)R, ((RR)R)R, (RR)RRR