Fig. 1 Schematic illustration of the musculoskeletal system of the planthopper hind leg. The illustration is the ventral view. The arrows indicate the contraction force (C1, C2, and C2’) and motion axes (M1 and M2), and the triangles indicate the muscle insertion point. The configuration is symmet... More about this image found in Schematic illustration of the musculoskeletal system of the planthopper hin...

Fig. 2 The designed torque reversal latch and its unlatching mechanism. The labels C2 and M2 (M2') indicate the tensile force and motion axis, respectively. More about this image found in The designed torque reversal latch and its unlatching mechanism. The labels...

Fig. 3 A spring model illustrating the click mechanism More about this image found in A spring model illustrating the click mechanism

Fig. 4 Developed jumping mechanism inspired by the planthopper jump (the nymphal leg type) More about this image found in Developed jumping mechanism inspired by the planthopper jump (the nymphal l...

Fig. 5 Geometrical configuration of the vertical spring and the leg movement More about this image found in Geometrical configuration of the vertical spring and the leg movement

Fig. 6 Geometrical configuration of the lateral spring and the leg movement More about this image found in Geometrical configuration of the lateral spring and the leg movement

Fig. 7 The hind leg part inspired by ( a ) the nymphal one and ( b ) the adult one. The bottom subfigures show the configuration of the additive fabrication. More about this image found in The hind leg part inspired by ( a ) the nymphal one and ( b ) ...

Fig. 8 A simplified model illustrating the specific point of the torque reversal More about this image found in A simplified model illustrating the specific point of the torque reversal

Fig. 9 The torque around the contact point with respect to the leg angle, calculated in the static situation More about this image found in The torque around the contact point with respect to the leg angle, calculat...

Fig. 10 The spring force of the vertical and lateral spring with respect to the leg angle More about this image found in The spring force of the vertical and lateral spring with respect to the leg...

Fig. 11 The parametric study of the torque characteristics: ( a ) the spring constant and ( b ) the displacement of P s More about this image found in The parametric study of the torque characteristics: ( a ) the sprin...