Key idea
Recognize rotation over a leg rather than a hip sweep.
For right , leads toward Uke’s right front corner and turns left. The back of Tori’s extended right lower leg lies across the front of Uke’s right leg around knee level. The hands and turning upper body wheel Uke forward over that line. Mirror on the left. Unlike , the defining action is a wheel over the extended leg rather than a sweep of the support from the hip. Do not kick or twist sideways into Uke’s knee.