Figure 2
![Figure 2](http://media.springernature.com/full/springer-static/image/art%3A10.1186%2F1742-4682-11-23/MediaObjects/12976_2013_Article_472_Fig2_HTML.jpg)
The c -uniform insertion mode. A receptor insertion mechanism symbolized here by means of S rθ(c, 0, 0, b/a, 0), which is obtained by setting and , with c a positive constant.
The c -uniform insertion mode. A receptor insertion mechanism symbolized here by means of S rθ(c, 0, 0, b/a, 0), which is obtained by setting and , with c a positive constant.