Table 1.

Geometrical characteristics collected to guide the TBC and EB design.

Joint	Max force [N]	Actuation line length	TBC travel (max travel) [mm]	Expected elastic elongation [mm]
Hip extension	30	200–250	50 (100)	50
Hip flexion	30	300–400	50 (100)	50
Knee extension	30	250–350	50 (100)	50
Knee flexion	30	200–300	50 (100)	50
Ankle dorsiflexion	20	220–280	20 (40)	20
Ankle plantarflexion	60	250–300	20 (50)	30