Does Jansen's linkage mechanism achieve a genuinely flat segment of the foot's cycle or merely an approximation?
Dimensions of mechanism given here, though presumably the actual measurements require more precise definition.
2026-04-02 21:15:34.1775164534
Mathematical status of Jansen's linkage
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Simply because the coordinates of all points are linked by polynomial equations (obtainable from Pythagoras), the curve is given by an algebraic equation. Such an equation could describe a line, but nothing that is partly curved and partly a line.