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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. 4.

Fig. 4.

The phantom lower limb mounted on the hexapod under various loading conditions. The left image presents the phantom without any springs or braces. Middle image shows the phantom with torsional springs attached to braces interfacing the ballistic gel of the thigh and shank. The right image shows the phantom with the same springs bypassing the ballistic gel and attaching directly to the femur and tibia. Load cells attached under the ankle and marker positions at the joints are used to estimate the knee moment.