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Lower limb model for C-LREX (a) 2DOF (b) 3DOF (I, m, l, a represent the moment of inertia, mass, length of the link, and distance of CG of the link from the joint center. The subscripts 1, 2, and 3 refer to link 1 (thigh), link 2 (shank), and link 3 (foot)).
