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CAD model of (a) LLES (labels: (1) thigh link, (2) shank link, (3) foot link, (4) hybrid stepper motor, (5) lead screw actuator, (6) stepper motor, (7) timing belt, (8) support module, (9) wheels, and (10) telescopic link joint connector) and (b) LEES with a human dummy [32].
