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Table 1 Prosthetic-leg D-H notations [68]

From: fNIRS-based Neurorobotic Interface for gait rehabilitation

Link no. α i − 1 α i − 1 d i θ i
1. 0 L1 0 θ 1
2. 0 L2 0 θ 2
3. 0 L3 0 θ 3