“…In this article, force amplification ratio, k amp , is defined as the ratio between the output force applied by the frame, F out , and the input force applied to the frame, F in , as denoted in Figure 1(a). Some researchers (Li et al, 2011;Secord et al, 2010;Zhou and Zuo, 2013) modeled the force amplification ratio as a linear function in one unknown: cot(u), where u is the tilt angle of the linkage from the x-direction, illustrated in Figure 1 (b). This linear model is derived under the assumptions that all the frame components are rigid and the neighboring frame components are connected with hinges.…”