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. 2021 May 14;21(10):3432. doi: 10.3390/s21103432

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© 2021 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).

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Force values $F_{1}$ (a), $F_{2}$ (c), $F_{3}$ (e) with components x and y in actuators, reactions with components x and y for hip (b), knee (d), and ankle (f) joint.