.....at: www.reembody.me/2013/06/28/how-joints-use-leverage/
Basically , leverage is a "smart" action...naturally inherited.
It can be a precious suggestion to solve some "problems"...
Al_ex
Alex,
very interesting kinematics. Live demo here
https://www.youtube.com/watch?v=PQoxWBnuTGg#t=517 (https://www.youtube.com/watch?v=PQoxWBnuTGg#t=517)
Regards
Kator01