Table 4.
The range of motion of the robot joints.
| Joint Name | Min (°) | Max (°) |
|---|---|---|
| Hip joint | −60 | 60 |
| Tibial joint | −90 | 90 |
| Knee joint | −90 | 90 |
| Ankle joint | −90 | 90 |
| body joint | 0 | 90 |
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