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Table 5 Range of motion of the proposed musculoskeletal robot and human ankle joints [16]

From: Musculoskeletal lower-limb robot driven by multifilament muscles

  Musculoskeletal robot Human
Dorsal flexion (deg) 19 25
Plantar flexion (deg) 50 50
Pronation (deg) 30 20
Supination (deg) 40 30
Adduction (deg) 11 10
Abduction (deg) 28 20