| Motion inside c-cr joint | |||
Free-flight motion | Impact motion | Continuous-contact motion | ||
Motion inside s-cr joint | Free-flight motion | Free-Free Motion Mode | Impact-Free motion mode | Contact-Free Motion Mode |
Impact motion | Free-Impact Motion Mode | Impact-impact motion mode | Contact-Impact Motion Mode | |
Continuous-contact motion | Free-Contact Motion Mode | Impact-Contact Motion Mode | Contact-Contact Motion Mode |