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I think it would be good if the article highlighted the similarities and differences between Klann and Jansen's linkages. --TiagoTiago (talk) 07:30, 24 March 2013 (UTC)[reply]
As of now, I am not sure where such a comparison would belong. Both the article Jansen Linkage and Jansens Linkage do not really work, as it applies to both.
Leg mechanism can easily become to long/complex when there is to much of anything.