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Table 3 Seven compared patella shapes and their mechanical and geometric characteristics

From: Relationship between the shape of the elliptical knee joint and jumping height in a leg-type robot driven by pneumatic artificial muscle

No.

\(\left( a, b, \alpha \right)\)

Geometrical and mechanical characteristics

1

\(\left( 100, 20, 30\right)\)

Elongated elliptical shape satisfying only Requirement 2

2

\(\left( 100, 20, 70\right)\)

Ideal elliptical shape satisfying both Requirements 1 and 2

3

\(\left( 100, 20, 165\right)\)

Unsuitable for jumping that does not satisfy both Requirements 1 and 2 Elliptical shape

4

\(\left( 50, 20, 70\right)\)

Similar to an ideal elliptical shape, but a is not extremely large

5

\(\left( 100, 50, 70\right)\)

Similar to an ideal elliptical shape, but b is not extremely small

6

\(\left( 20, 20, 0\right)\)

Circular patella with a small radius that satisfies only Requirement 1

7

\(\left( 100, 100, 0\right)\)

True circular shape with a large radius