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The specific movement modes and DoF of the lower limb joints.
| Joints | DoF | Movement |
|---|---|---|
| Hips | 3 | Internal-external rotaion; Abduction-adduction; Flexion-extension. |
| Knees | 2 | Flexion-extension; Rotaion. |
| Ankles | 3 | Plantar flexion-dorsiflexion; Abduction-adduction; Eversion-inversion. |
