TABLE II.
Joint DOF Angle Limits for Posture Space
| Joint DOF | Angle Limits (deg) |
|---|---|
| Ankle PF/DF | 4PF to 8DF |
| Knee F/E | 30F to 0E |
| Hip Ab/Adduction | 8Ab to 8Ad |
| Hip F/E | 40F to 0E |
| Trunk F/E | 50F to 0E |
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