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Table 1.

Joint parameters used in the model^*

Joint	X (m)	Extension (degrees)	Flexion (degrees)
Hip	0	10	90
Knee	0.396	0	90
Ankle	0.826	30	60

Note values of extension and flexion are relative to the human anatomical position.

X and Y are the world coordinates of the joint centres.

The model was taken from (Delp et al.,1990).