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A demonstration of the mechanism's position analysis can be seen in the above video.
The mechanical advantage of the system during lift (phase 3) can be seen in the following image. The mechanical advantage stays above 4 and peaks at approximately 17 at the beginning. The motion of the lift implies that as the person is being lifted (up to 80 degrees in theta 2) will only need to assert 33 pounds of force as the mechanical advantage stays above 6. The mechanical advantage tapers off only once the lift motion transitions to horizontal translation which requires much less input force.
