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This angle was then used as the "input" for conducting the rest of the position analysis.

Figure 7: Sketch of the handle input.

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Figure 9: Sketch of the gear mechanism. R₄ and θ₄ belong to the input gear, R₅ and θ₅ belong to the intermediate gear that turns the wheels. R₆ and θ₆ are the distance and angle of the vector from the center of the front wheel to the "foot". 

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The input link for the four-bar linkage is the "link" from the center of the front wheel to the foot, R₆ (Figure 9). θ₆ is known, because it is the same gear as Gear 5, and therefore θ₆ = θ₅ + 90º (because it has an offset start position). Since R₆ and θ₆ are known, and L_lleg, L_uleg, L₀, and θ₁ are measured, θ_lleg and θ_uleg can be found using the vector loop equation (Figure 10).

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Figure 10: Sketch of the four-bar linkage that makes up the leg segments. 

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