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Table 3 Configuration synthesis of the actuating limb

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

Motion characteristicsJointsConfiguration of actuating limbs
2R1T2(RR)P, UP
3R1T2SP, (RR)C, UC, SC
3(RR)RP, (RR)PR, URP, UPR, SR*P, URC, SPR, UPU,UCR, (RC)U, SP*U,SC*R, (RR)CU, (RR)PS, UPS, UCU
4,5(RR)RRP, URRP, (RR)RP*R, (RR)RC, URP*R, (RR)P*RR, (RC)RR, (RR)P*U, (RR)CR, UP*RR, URP*U, SP*R*R, (RR)PRU, UPRU