What are the terms given below are related to?

What are the terms given below are related to? Also Explain the terms (i) Coxa (ii) Trochanter

These are the parts of legs of cockroach.
(i) Coxa It is a small, hard podomere, which articulates with the thoracic segment in between the pleuron and the sternum.
(ii) Trochanter It is a hard, small podomere which lies next to the coxa.