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. Author manuscript; available in PMC: 2023 Jun 30.
Published in final edited form as: IEEE Trans Neural Syst Rehabil Eng. 2023 Jun 1;31:2497–2506. doi: 10.1109/TNSRE.2023.3276424

Fig. 2.

Fig. 2.

The phantom limb modeled as a two-bar linkage with bar lengths lf and lt. The hexapod base moved vertically to change the vertical height z and achieve a desired knee angle θk.