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Joint motion range of human and exoskeleton on sagittal plane.
| Joint | Human motion range | Exoskeleton motion range |
|---|---|---|
| Hip flexion/extension | −30° to 140° | −30° to 115° |
| Knee flexion/extension | −150° to 10° | −100° to 0° |
| Ankle dorsiflexion/plantar flexion | −30° to 40° | −20° to 20° |
