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. 2018 Nov 2;9:4594. doi: 10.1038/s41467-018-07073-5

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 5 — Software design tool enabled by the compliant rolling-contact joint (CRJ) modeling theory. a Cam locations, connections, and radii are specified by the user in the tool’s design window. b Loads are defined. c The design is simulated. d Its unassembled layer geometry is given. e Geometric parameters that define a single CRJ layer. Parameters that define the strap loads imparted on CRJ cams for general f tension and g compression scenarios