Σ cot αᵢ = 0; Aᵢ sin²αᵢ = C; Σ Aᵢ sin(2αᵢ) = 0

W = m × 9.81 N; wA + wP + wO = 1
G = wA·A + wP·P + wO·O
Mload,S = (G − S) × (0, 0, −1)
Mrequired,S = −Mload,S (normalized by W)
|S − C| = L tibia; |J − S| = L femur
RH + R1 + R5 = 1; RH·Hxy + R1·M1xy + R5·M5xy = Gxy