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Updated: May 25, 2026

Lower Limb Biomechanical Analysis of Healthy Participants
Published on: April 15, 2020
Biomechanical considerations in the design of lower limb exoskeletons
Massimo Cenciarini1, Aaron M Dollar
1Department of Mechanical Engineering and Materials Science, Yale University, New Haven, CT 06511, USA. massimo.cenciarini@yale.edu
Abstract:
This paper presents an analysis of the human biomechanical considerations related to the development of lower limb exoskeletons. Factors such as kinematic alignment and compatibility, joint range of motion, maximum torque, and joint bandwidth are discussed in the framework of a review of the design specifications for exoskeleton prototypes discussed in the literature. From this analysis, we discuss major gaps in the research related to the topic and how those might be filled.
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