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(A) The joint angle representation on the kinematic leg model with the thigh (l1) and shank (l2) links representing the joint angles θh (hip), θk1, θk2(two knees); (B) Variation of hip and knee angles with time and their inter-phase relationships. Extrema (θh_ext) in the hip angle are denoted by numbers 1, 2, and 3.
