Fig. 10. Predicted four-bar model behavior based on the average link lengths of loaded raptorial appendages. For a given input angle, the four-bar linkage mechanism yields an output that varies nonlinearly along the range of input angles. The four-bar model is not operational beyond the range of input angles shown here. Kinematic analyses showed that mantis shrimp typically generate input angles of the meral-V in the range 64–73°, as indicated here (yellow line).