Table 1.
Prosthetic-leg D-H notations [68]
| Link no. | α i − 1 | α i − 1 | d i | θ i |
|---|---|---|---|---|
| 1. | 0 | L1 | 0 | θ 1 |
| 2. | 0 | L2 | 0 | θ 2 |
| 3. | 0 | L3 | 0 | θ 3 |
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